ceri clatworthy
Libary for Strpper motor controller, eg: Rep-Rap smart stick Catering for both, Phisical 'PIN' endstops, and PORT Expander end stops . ** BOTH IN TEST ** ** Phisical PIN tested (minimal) **** PORT PIN NOT TESTED ****
Diff: Stepper.h
- Revision:
- 0:a509cc91f7c2
- Child:
- 1:66e95666c3b5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Stepper.h Thu Jul 18 09:05:15 2013 +0000
@@ -0,0 +1,44 @@
+
+
+#ifndef _stepper_h_
+#define _stepper_h_
+
+#include "mbed.h"
+
+class Stepper {
+
+public:
+
+ Stepper(PinName Step, PinName Dir, PinName En, PinName Endstop_Left, PinName Endstop_Right, bool Invert_Dir, bool Invert_ESL, bool Invert_ESR);
+
+ bool Pulse();
+ bool Set_Dir (bool Dir2Set);
+ bool ESL_Activeated();
+ bool ESR_Activeated();
+ bool ESL_Fitted();
+ bool ESR_Fitted();
+
+protected:
+ DigitalOut _Step;
+ DigitalOut _Dir;
+ DigitalOut _En;
+
+ DigitalIn _Endstop_Left;
+ DigitalIn _Endstop_Right;
+
+
+ bool _Invert_Dir;
+ bool _Invert_ESL;
+ bool _Invert_ESR;
+ bool _g4;
+
+ bool ESL;
+
+private:
+
+ int ESR;
+ int Set;
+
+ };
+
+#endif // _stepper_h_
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