Diff: Stepper_Motor/STEPPER_MOTOR.cpp

Revision:

25:9751619fa030

Parent:

23:07a368f2cdb1

Child:

28:3193157ebb0c

--- a/Stepper_Motor/STEPPER_MOTOR.cpp	Mon Feb 18 12:02:34 2019 +0000
+++ b/Stepper_Motor/STEPPER_MOTOR.cpp	Mon Feb 18 22:04:54 2019 +0000
@@ -22,8 +22,16 @@
 {
     return (_Steps_Done /50);
 }
-void STEPPER_MOTOR::Rotate_Steps(int Steps)
-{    
+void STEPPER_MOTOR::Rotate_Steps(int Steps,int Function)
+{   
+    if(Function == 2)
+    {
+      loop_wait_time = 1;   
+    }
+    else if(Function == 3)
+    {
+        loop_wait_time = 2;
+    } 
     Steps = Steps*50;
     //int correctionfactor;
     //int timeofturn=correctinfactor*speed;
@@ -38,22 +46,22 @@
             this->pin2 = 1;
             this->pin3 = 0;
             this->pin4 = 1;
-            Thread::wait(1);
+            Thread::wait(loop_wait_time);
             this->pin1 = 0;
             this->pin2 = 1;
             this->pin3 = 1;
             this->pin4 = 0; 
-            Thread::wait(1);
+            Thread::wait(loop_wait_time);
             this->pin1 = 1;
             this->pin2 = 0;
             this->pin3 = 1;
             this->pin4 = 0;
-            Thread::wait(1);
+            Thread::wait(loop_wait_time);
             this->pin1 = 1;
             this->pin2 = 0;
             this->pin3 = 0;
             this->pin4 = 1;     
-            Thread::wait(1);  
+            Thread::wait(loop_wait_time);  
             _Steps_Done = _Steps_Done +1;
         }
         else if (_Pause_Code == 1)