File content as of revision 29:f3b1387c81f1:

#include "mbed.h"           //Include the mbed libraries
#include "STEPPER_MOTOR.hpp"          //Include the header file, this acts like a series of forward declarations
int loop_wait_time = 0;
//Constructor
STEPPER_MOTOR::STEPPER_MOTOR(PinName N1, PinName N2, PinName N3, PinName N4) : pin1(N1),pin2(N2),pin3(N3),pin4(N4)
{
     _dir = true;
    _step = 0;    
}

STEPPER_MOTOR::~STEPPER_MOTOR(){}   //Destructor

void STEPPER_MOTOR::Pause_Code()
{
    _Pause_Code = 1;   
}
void STEPPER_MOTOR::Unpause_Code()
{
    _Pause_Code = 0;   
}
float STEPPER_MOTOR::Get_Turns()
{
    return (_Steps_Done /50);
}
void STEPPER_MOTOR::Rotate_Steps(int Steps,int Function,bool Direction)
{   
    if(Function == 2)//Coiling
    {
      loop_wait_time = 2;  
    }
    else if(Function == 3)
    {
        loop_wait_time = 2;//Twisting
    } 
    Steps = Steps*50;//int correctionfactor;//int timeofturn=correctinfactor*speed;
    _Steps_Done = 0;

    for(int x =0 ; x <= Steps; x++)
    {
        if(_Pause_Code == 0)
        {
            if(Direction == 0)
            {
                this->pin1 = 0;
                this->pin2 = 1;
                this->pin3 = 0;
                this->pin4 = 1;
                Thread::wait(loop_wait_time);
                this->pin1 = 0;
                this->pin2 = 1;
                this->pin3 = 1;
                this->pin4 = 0; 
                Thread::wait(loop_wait_time);
                this->pin1 = 1;
                this->pin2 = 0;
                this->pin3 = 1;
                this->pin4 = 0;
                Thread::wait(loop_wait_time);
                this->pin1 = 1;
                this->pin2 = 0;
                this->pin3 = 0;
                this->pin4 = 1;
            }
            else if (Direction == 1)   
            {   
                this->pin1 = 1;
                this->pin2 = 0;
                this->pin3 = 0;
                this->pin4 = 1;
                Thread::wait(loop_wait_time);
                this->pin1 = 1;
                this->pin2 = 0;
                this->pin3 = 1;
                this->pin4 = 0;
                Thread::wait(loop_wait_time);
                this->pin1 = 0;
                this->pin2 = 1;
                this->pin3 = 1;
                this->pin4 = 0;
                Thread::wait(loop_wait_time); 
                this->pin1 = 0;
                this->pin2 = 1;
                this->pin3 = 0;
                this->pin4 = 1;
                Thread::wait(loop_wait_time);             
            }  
            Thread::wait(loop_wait_time);  
            _Steps_Done = _Steps_Done +1;
        }
        else if (_Pause_Code == 1)
        {
            printf("Stepper motor code paused\n");
            while(_Pause_Code == 1)
            {
                Thread::wait(1);
            }
        }
    }//End of for loop
    this->pin1 = 0;
    this->pin2 = 0;
    this->pin3 = 0;
    this->pin4 = 0;
}
void STEPPER_MOTOR::Permanent_Rotate_clock_wise()
{
    switch(_step){ 
       case 0:
           pin1 = 0;
           pin2 = 0;
           pin3 = 0;
           pin4 = 1;
       break;  
       case 1:
           pin1 = 0;
           pin2 = 0;
           pin3 = 1;
           pin4 = 1; 
       break;  
       case 2: 
           pin1 = 0;
           pin2 = 0;
           pin3 = 1;
           pin4 = 0;
       break;  
       case 3: 
           pin1 = 0;
           pin2 = 1;
           pin3 = 1;
           pin4 = 0;
       break;  
       case 4: 
           pin1 = 0;
           pin2 = 1;
           pin3 = 0;
           pin4 = 0; 
       break;  
       case 5: 
           pin1 = 1;
           pin2 = 1;
           pin3 = 0;
           pin4 = 0;
       break;  
         case 6: 
           pin1 = 1;
           pin2 = 0;
           pin3 = 0;
           pin4 = 0;
       break;  
       case 7: 
           pin1 = 1;
           pin2 = 0;
           pin3 = 0;
           pin4 = 1;
       break;  
       default: 
           pin1 = 0;
           pin2 = 0;
           pin3 = 0;
           pin4 = 0;
       break;  
     } 
     if(_dir){ 
       _step++; 
     }else{ 
       _step--; 
     } 
     if(_step>7){ 
       _step=0; 
     } 
     if(_step<0){ 
       _step=7; 
     } 
} 

void STEPPER_MOTOR::Permanent_Rotate_anti_clock_wise()
{

        //Rotate
    switch(_step){ 
       case 0:
           pin1 = 1;
           pin2 = 0;
           pin3 = 0;
           pin4 = 1;
       break;  
       case 1:
           pin1 = 1;
           pin2 = 0;
           pin3 = 0;
           pin4 = 0; 
       break;  
       case 2: 
           pin1 = 1;
           pin2 = 1;
           pin3 = 0;
           pin4 = 0;
       break;  
       case 3: 
           pin1 = 0;
           pin2 = 1;
           pin3 = 0;
           pin4 = 0;
       break;  
       case 4: 
           pin1 = 0;
           pin2 = 1;
           pin3 = 1;
           pin4 = 0; 
       break;  
       case 5: 
           pin1 = 0;
           pin2 = 0;
           pin3 = 1;
           pin4 = 0;
       break;  
         case 6: 
           pin1 = 0;
           pin2 = 0;
           pin3 = 1;
           pin4 = 1;
       break;  
       case 7: 
           pin1 = 0;
           pin2 = 0;
           pin3 = 0;
           pin4 = 1;
       break;  
       default: 
           pin1 = 0;
           pin2 = 0;
           pin3 = 0;
           pin4 = 0;
       break;  
     } 
     if(_dir){ 
       _step++; 
     }else{ 
       _step--; 
     } 
     if(_step>7){ 
       _step=0; 
     } 
     if(_step<0){ 
       _step=7; 
     } 
     //wait_ms(1); 
}