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Fixed unsigned var and version note

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This commit is contained in:
ekozlenko 2013-12-02 13:18:06 -05:00 committed by Cristian Maglie
parent 847816739f
commit caf000b005
2 changed files with 8 additions and 6 deletions
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4
libraries/Stepper/src/Stepper.cpp
View File

@ -1,5 +1,5 @@
/*
Stepper.cpp - - Stepper library for Wiring/Arduino - Version 0.4
Stepper.cpp - - Stepper library for Wiring/Arduino - Version 0.5
Original library (0.1) by Tom Igoe.
Two-wire modifications (0.2) by Sebastian Gassner
@ -146,7 +146,7 @@ void Stepper::step(int steps_to_move)
// decrement the number of steps, moving one step each time:
while(steps_left > 0) {
// move only if the appropriate delay has passed:
if (micros() - this->last_step_time >= this->step_delay || micros() - this->last_step_time < 0) {
if (micros() - this->last_step_time >= this->step_delay || micros() < this->last_step_time) {
// get the timeStamp of when you stepped:
this->last_step_time = micros();
// increment or decrement the step number,

10
libraries/Stepper/src/Stepper.h
View File

@ -1,10 +1,11 @@
/*
Stepper.h - - Stepper library for Wiring/Arduino - Version 0.4
Stepper.h - - Stepper library for Wiring/Arduino - Version 0.5
Original library (0.1) by Tom Igoe.
Two-wire modifications (0.2) by Sebastian Gassner
Combination version (0.3) by Tom Igoe and David Mellis
Bug fix for four-wire (0.4) by Tom Igoe, bug fix from Noah Shibley
High-speed stepping mod and timer rollover fix (0.5) by Eugene Kozlenko
Drives a unipolar or bipolar stepper motor using 2 wires or 4 wires
@ -18,7 +19,8 @@
A slightly modified circuit around a Darlington transistor array or an L293 H-bridge
connects to only 2 microcontroler pins, inverts the signals received,
and delivers the 4 (2 plus 2 inverted ones) output signals required
for driving a stepper motor.
for driving a stepper motor. Similarly the Arduino motor shields 2 direction pins
may be used.
The sequence of control signals for 4 control wires is as follows:
@ -79,7 +81,7 @@ class Stepper {
int direction; // Direction of rotation
int speed; // Speed in RPMs
unsigned long step_delay; // delay between steps, in ms, based on speed
unsigned long step_delay; // delay between steps, in us, based on speed
int number_of_steps; // total number of steps this motor can take
int pin_count; // whether you're driving the motor with 2 or 4 pins
int step_number; // which step the motor is on
@ -90,7 +92,7 @@ class Stepper {
int motor_pin_3;
int motor_pin_4;
long last_step_time; // time stamp in ms of when the last step was taken
unsigned long last_step_time; // time stamp in us of when the last step was taken
};
#endif