Simon Emarre / StepperMotor

A simple stepper motor driver library, supporting micro-stepping drivers such as the Pololu A4988 stepper driver carrier or the Sparkfun EasyDriver.

Dependents:   Robot2016_2-0_STATIC Robot2016_2-0

Fork of StepperMotor by Matthew Else

Diff: Stepper.cpp

Revision:
3:c7011e72f0c7
Parent:
1:e34729a7567f
--- a/Stepper.cpp	Wed Apr 13 11:26:35 2016 +0000
+++ b/Stepper.cpp	Wed May 04 16:14:30 2016 +0000
@@ -1,10 +1,11 @@
 #include "Stepper.h"
 #include "mbed.h"
 
-Stepper::Stepper(PinName _en, PinName _stepPin, PinName _dir):en(_en),
+Stepper::Stepper(PinName _en, PinName _stepPin, PinName _dir, float step_per_mm):en(_en),
     stepPin(_stepPin),
     direction(_dir)
 {
+    Step_Per_MM = step_per_mm;
 }
 
 void Stepper::step(int number, int dir, float speed)
@@ -26,6 +27,11 @@
     }
 }
 
+void Stepper::mm(int number, int dir)
+{
+    step(number*Step_Per_MM, dir, DELAY-0.001);
+}
+
 void Stepper::enable()
 {
     en = 0;