Justin Jordan / Mbed 2 deprecated R5_StepperDrive

update 1/27/16

Dependencies:   mbed

Fork of R5_StepperDrive by Jaime Martinez

Files at this revision

API Documentation at this revision

Revision 4:754c74beef20, committed 2016-03-25

Comitter:
j_j205
Date:
Fri Mar 25 19:50:38 2016 +0000
Parent:
3:97bea13f40a9
Commit message:
3/25/16 2:50 JJ

Changed in this revision

StepperDrive.cpp Show annotated file Show diff for this revision Revisions of this file
StepperDrive.h Show annotated file Show diff for this revision Revisions of this file 
--- a/StepperDrive.cpp	Tue Feb 23 23:36:09 2016 +0000
+++ b/StepperDrive.cpp	Fri Mar 25 19:50:38 2016 +0000
@@ -145,4 +145,33 @@
 bool StepperDrive::isMoveDone()
 {
     return moveComplete;
+}
+
+// FUNCTION:
+//      void pauseMove()
+// IN-PARAMETERS:
+//      None
+// OUT-PARAMETERS:
+//      None
+// DESCRIPTION:
+//      Stops current move. Saves remaining steps in leftStepsPause
+//      and rightStepsPause.
+void StepperDrive::pauseMove();
+{
+    /* need to implement*/
+}
+
+// FUNCTION:
+//      void resumeMove()
+// IN-PARAMETERS:
+//      None
+// OUT-PARAMETERS:
+//      None
+// DESCRIPTION:
+//      Restores remaining steps from leftStepsPause
+//      and rightStepsPause to leftSteps and rightSteps. Resumes
+//      move.
+void StepperDrive::resumeMove();
+{
+    /* need to implement */
 }
\ No newline at end of file

--- a/StepperDrive.h	Tue Feb 23 23:36:09 2016 +0000
+++ b/StepperDrive.h	Fri Mar 25 19:50:38 2016 +0000
@@ -11,6 +11,8 @@
               //(serisl &, stepPinLeft, dirPinLeft, invertLeft, stepPinRight, dirPinRight, invertRight, wheelCircum, wheelSepar, periodUs)
     int move(float distance, float angle);
     bool isMoveDone();
+    void pauseMove();
+    void resumeMove();
 
     Serial &pc;
     int getRightSteps() { return rightSteps; }
@@ -41,6 +43,8 @@
     float rightStepsPC;
     float leftError;
     float rightError;
+    int leftStepsPause; // for holding steps left during pause
+    int rightStepsPause; // for holding steps right during pause
 };
 
 #endif
\ No newline at end of file