Tarek Lule / MotorLib

My Version of the Crealab MotorLib.

Fork of MotorLib by CreaLab

Files at this revision

API Documentation at this revision

Revision 6:aec892eb1b49, committed 2016-10-11

Comitter:
garphil
Date:
Tue Oct 11 22:21:56 2016 +0000
Parent:
5:9886fd337a4b
Child:
7:439458133bba
Commit message:
Added Infinite Run;

Changed in this revision

motor.cpp Show annotated file Show diff for this revision Revisions of this file
motor.h Show annotated file Show diff for this revision Revisions of this file 
--- 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--;
                 }

--- a/motor.h	Wed Oct 05 18:54:35 2016 +0000
+++ b/motor.h	Tue Oct 11 22:21:56 2016 +0000
@@ -40,6 +40,7 @@
     Motor(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3, uint32_t TickTime);
     void RunSteps(MotorDir direction, uint32_t steps);
     void RunDegrees(MotorDir direction, float steps);
+   void RunInfinite(MotorDir direction);
     void SetDirection(MotorDir dir);
     void TestMotor();
     void RunMotor();