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

Stepper.cpp

Committer:
sype
Date:
2016-05-04
Revision:
3:c7011e72f0c7
Parent:
1:e34729a7567f

File content as of revision 3:c7011e72f0c7:

#include "Stepper.h"
#include "mbed.h"

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)
{
    if (dir == 1) {
        direction = 0;
    } else if (dir == 0) {
        direction = 1;
    }
    
    //  Step...
    for(int i=0; i<number; i++)
    {
        stepPin = 1;
        wait_us(5);
        stepPin = 0;
        wait_us(5);
        wait(speed);
    }
}

void Stepper::mm(int number, int dir)
{
    step(number*Step_Per_MM, dir, DELAY-0.001);
}

void Stepper::enable()
{
    en = 0;
}

void Stepper::disable()
{
    en = 1;
}