Diff: Stepper.cpp

Revision:

1:e34729a7567f

Parent:

0:52fb09e87581

Child:

3:c7011e72f0c7

--- a/Stepper.cpp	Sun Feb 24 16:23:02 2013 +0000
+++ b/Stepper.cpp	Tue Apr 05 14:58:59 2016 +0000
@@ -1,22 +1,14 @@
 #include "Stepper.h"
 #include "mbed.h"
 
-stepper::stepper(PinName _en, PinName ms1, PinName ms2, PinName ms3, PinName _stepPin, PinName dir):en(_en),
-    microstepping(ms1, ms2, ms3),
+Stepper::Stepper(PinName _en, PinName _stepPin, PinName _dir):en(_en),
     stepPin(_stepPin),
-    direction(dir)
+    direction(_dir)
 {
 }
 
-void stepper::step(int microstep, int dir, float speed)
+void Stepper::step(int number, int dir, float speed)
 {
-    if (microstep == 1) {
-        microstepping = 0;
-    } else if (microstep <= 4) {
-        microstepping = microstep / 2;
-    } else if (microstep > 4) {
-        microstepping = (microstep / 2) - 1;
-    }
     if (dir == 1) {
         direction = 0;
     } else if (dir == 0) {
@@ -24,18 +16,22 @@
     }
     
     //  Step...
-    stepPin = 1;
-    wait(1/speed);
-    stepPin = 0;
-    wait(1/speed);
+    for(int i=0; i<number; i++)
+    {
+        stepPin = 1;
+        wait_us(5);
+        stepPin = 0;
+        wait_us(5);
+        wait(speed);
+    }
 }
 
-void stepper::enable()
+void Stepper::enable()
 {
     en = 0;
 }
 
-void stepper::disable()
+void Stepper::disable()
 {
     en = 1;
 }
\ No newline at end of file