File content as of revision 0:54c5be5f26f4:

// Code for the lin_step_mtr driver

#include "lin_step_mtr.h"
#include "debug.h"

//Construtor
LinStepMtr::LinStepMtr(PinName A_f, PinName A_r, PinName B_f, PinName B_r, int m_speed=MAX_SPEED)
        :mtr_ctrl(B_r, A_r, B_f,A_f), max_speed((m_speed > MAX_SPEED) ? MAX_SPEED:m_speed)
{
    mtr_ctrl = 0x0;
    speed = floor((double)DEFAULT_SPEED * 10 / 3);
    dir = CW;
    
    stop_mtr = true;
    terminate = false;
    
    
    
    
    
    cur_state = STOP_MOTOR;
}


float LinStepMtr::get_speed()
{
    return (float) speed * 3 / 10;
}

LinStepMtr::Direction LinStepMtr::get_dir()
{
    return dir;   
}

void LinStepMtr::rotate()
{
    while(!terminate) {
        if(!stop_mtr){
            switch(dir) {
                case CW:
                    mtr_ctrl = ++cur_step;
                    rev_cnt +=.005;
                    break;
                case CCW:
                    mtr_ctrl = --cur_step;
                    rev_cnt-=.005;
                    break;
            }
            Thread::wait(30 / speed);   
        } else {
            mtr_ctrl = STOP;   
            Thread::yield();
        }
    }   
}

// Private Step Class functions
/*
LinStepMtr::Step::Step() : cur_step(ONE)
{
            pc.printf("\n\nCalled Constructor\n  cur_step: %x\n",cur_step);  
            
            pc.printf("Step_Num val:\n  ONE = %x\n  TWO = %x\n  THREE = %x\n  FOUR = %x\n\n", ONE, TWO, THREE, FOUR); 
};
*/
LinStepMtr::Step_Num LinStepMtr::Step::get_cur_step()
{
        return cur_step;
}
        
LinStepMtr::Step_Num LinStepMtr::Step::operator++()
{    
    switch(cur_step){
        case ONE:
            cur_step=TWO;
            break;
        case TWO:
            cur_step = THREE;
            break;
        case THREE:
            cur_step = FOUR;
            break;
        case FOUR:
            cur_step = ONE; 
            break;      
    }
    return cur_step;
}

LinStepMtr::Step_Num LinStepMtr::Step::operator--()
{
    switch(cur_step){
        case ONE:
            cur_step=FOUR;
            break;
        case TWO:
            cur_step = ONE;
            break;
        case THREE:
            cur_step = TWO;
            break;
        case FOUR:
            cur_step = THREE; 
            break;      
    }
    return cur_step;
}