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Code Issues Releases Activity

Moving actual stepping to the end of the step() function so that the first step isn't in the wrong direction.

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This commit is contained in:
David A. Mellis 2008-07-08 02:34:38 +00:00
parent be66f329b3
commit 2ead3627da
1 changed files with 2 additions and 2 deletions
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4
hardware/libraries/Stepper/Stepper.cpp
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@ -132,8 +132,6 @@ void Stepper::step(int steps_to_move)
while(steps_left > 0) {
// move only if the appropriate delay has passed:
if (millis() - this->last_step_time >= this->step_delay) {
// step the motor to step number 0, 1, 2, or 3:
stepMotor(this->step_number % 4);
// get the timeStamp of when you stepped:
this->last_step_time = millis();
// increment or decrement the step number,
@ -152,6 +150,8 @@ void Stepper::step(int steps_to_move)
}
// decrement the steps left:
steps_left--;
// step the motor to step number 0, 1, 2, or 3:
stepMotor(this->step_number % 4);
}
}
}