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keep track of stepper's position

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Signed-off-by: Stepan Usatyuk <usaatyuk@ustk.me>
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Stepan Usatiuk
2019-05-09 14:58:38 +03:00
parent 40436f4e08
commit eed3a18347
3 changed files with 51 additions and 16 deletions
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8
Firmware/EggbotWireless/include/Stepper.h
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@@ -14,13 +14,17 @@ class Stepper {
bool direction;
void clockwise();
void counterClockwise();
void step(int steps);
int degreesToSteps(float degrees);
float pos = 0;
int limit;
public:
Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution, int backlashSteps);
void step(int steps);
Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution, int backlashSteps, int limit);
void rotate(float degrees);
void doStep();
bool finished();
float getPos();
};
#endif