Simon Emarre / StepperMotor

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Dependents:   Robot2016_2-0_STATIC Robot2016_2-0

Fork of StepperMotor by Matthew Else

Stepper.cpp

Committer:
sype
Date:
2016-04-05
Revision:
1:e34729a7567f
Parent:
0:52fb09e87581
Child:
3:c7011e72f0c7

File content as of revision 1:e34729a7567f:

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

Stepper::Stepper(PinName _en, PinName _stepPin, PinName _dir):en(_en),
    stepPin(_stepPin),
    direction(_dir)
{
}

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::enable()
{
    en = 0;
}

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