Diff: SDSK.h

Revision:

1:491a39c644b1

Parent:

0:913deac5f975

Child:

2:ea603e66a32e

diff -r 913deac5f975 -r 491a39c644b1 SDSK.h
--- a/SDSK.h	Thu Feb 01 19:06:08 2018 +0000
+++ b/SDSK.h	Thu Apr 05 19:12:24 2018 +0000
@@ -6,28 +6,20 @@
 class SDSK
 {
 public:
-    SDSK(PinName _pin_step, PinName _pin_dir, uint32_t _steps_per_rev=51200, double _max_acc=200, double _max_vel=180, uint32_t _min_us_step_pulse=4,  bool _positive_is_ccw=true);
+    SDSK(PinName _pin_step, PinName _pin_dir, uint32_t _steps_per_rev=51200, double _max_acc=360, double _max_vel=180, uint32_t _min_us_step_pulse=4,  bool _positive_is_ccw=true);
     
     void move(double target_angle);
     
-    
     void reverse();
     void zero();
     void set_max_acc(double _max_acc);
     void set_max_vel(double _max_vel);
     
-    void take_step();
-    
-    //void set_direction(bool cw);    
+    void take_step(); 
      
 private:
     DigitalOut step;
     DigitalOut dir;
-    
-    Timer profile_time;
-    
-    Serial pc;
-    
     bool positive_is_ccw; // changes to -1 if untrue
     
     double max_acc;
@@ -39,6 +31,9 @@
     uint32_t steps_per_rev;
     double steps_per_angle;
     
-    void delay_for_velocity(double velocity_steps);
+    Serial pc;
+    
+    Timer profile_time;
+    
 };
 #endif