Tarek Lule / MotorLib

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Diff: motor.cpp

Revision:
6:aec892eb1b49
Parent:
4:c009bcd5518c
Child:
7:439458133bba
diff -r 9886fd337a4b -r aec892eb1b49 motor.cpp
--- a/motor.cpp	Wed Oct 05 18:54:35 2016 +0000
+++ b/motor.cpp	Tue Oct 11 22:21:56 2016 +0000
@@ -43,6 +43,12 @@
         SetCommand(MOTOR_zero);
 }
 
+void Motor::RunInfinite(MotorDir dir) {
+    SetDirection( dir);
+    NumSteps = -1;
+    SetCommand(MOTOR_start);
+}
+
 void Motor::RunSteps(MotorDir dir, uint32_t steps) {
     SetDirection( dir);
     NumSteps = steps;
@@ -123,7 +129,7 @@
             }
         else if (state==Motor_RUN) {
             // Action always performed in that state
-             if (NumSteps>0) {
+             if (NumSteps>0 || NumSteps <0) {
                 RunMotor();
                 NumSteps--;
                 }