File content as of revision 57:aba1296e51b1:

#include "mbed.h"           //Include the mbed libraries
#include "STEPPER_MOTOR.hpp"          //Include the header file, this acts like a series of forward declarations
#include "SERIAL_COMMANDS.hpp"

//Constructor
STEPPER_MOTOR::STEPPER_MOTOR(PinName STEP, PinName DIRECTION) : _STEP(STEP), _DIRECTION(DIRECTION) //Constructor
{

}

STEPPER_MOTOR::~STEPPER_MOTOR(){}   //Destructor
void STEPPER_MOTOR::Rotate_Steps(int Steps, int Direction)//Test this with the larger delay to see if that will increase the performance
{
       _DIRECTION = Direction;
       for(int x =0 ; x < Steps; x++)
        {
            _STEP = 1;
            //wait_us(500);
            wait_ms(5);
            //Thread::wait(1);//wait 1 ms 
            _STEP = 0;
            wait_ms(5);
            //wait_us(500);
            //Thread::wait(1);//wait 1ms
        }
        steps = 0;
}
void STEPPER_MOTOR::Permanent_Rotate_clock_wise()
{
    _DIRECTION = 1;
    for(int x = 0; x< 200; x++)
    {
        _STEP = 1;
        wait_us(500);
        //Thread::wait(1);//wait 1 ms 
        _STEP = 0;
        wait_us(500);
        //Thread::wait(1);//wait 1ms
    }
}
void STEPPER_MOTOR::Permanent_Rotate_anti_clock_wise()
{
    _DIRECTION = 0;//For anti clockwise rotation
    for(int x = 0; x< 200; x++)
    {
        _STEP = 1;
        wait_us(500);
        //Thread::wait(1);//wait 1 ms 
        _STEP = 0;
        wait_us(500);
        //Thread::wait(1);//wait 1ms
    }
}