Texas State IEEE / R5_StepperDrive

debugged pauseMove and resumeMove JJ

Dependents:   steppertest GrabTest R5 2016 Robotics Team 1

Fork of R5_StepperDrive by David Vasquez

Files at this revision

API Documentation at this revision

Revision 10:1a79af981c7b, committed 2016-04-09

Comitter:
j_j205
Date:
Sat Apr 09 04:58:38 2016 +0000
Parent:
9:fb26142680b9
Commit message:
set value of enable to 1 (disable steppers) in constructor

Changed in this revision

StepperDrive.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/StepperDrive.cpp	Sat Apr 09 03:29:20 2016 +0000
+++ b/StepperDrive.cpp	Sat Apr 09 04:58:38 2016 +0000
@@ -10,7 +10,7 @@
     invertRight=in6;
     pit.attach_us(this, &StepperDrive::pitCallback, in9);
     moveComplete=true;
-
+    enable = 1; // disables steppers
 }
 
 int StepperDrive::move(float distance, float angle)
@@ -71,12 +71,12 @@
 {
     if(moveComplete==true)
     {
-        enable = 1;
+        enable = 1; // disables steppers
         return;
     }
     else
     {
-        enable = 0;
+        enable = 0; // enable Steppers
         if(leftSteps!=0)
         {
             leftError+=(fabs(leftStepsPC)-floor(fabs(leftStepsPC)));