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Make non-blocking moves actually non-blocking and fix rpm #21

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Make non-blocking moves actually non-blocking and fix rpm #21

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10 changes: 6 additions & 4 deletions CheapStepper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -136,10 +136,10 @@ void CheapStepper::run(){

if (micros() - lastStepTime >= delay) { // if time for step
if (stepsLeft > 0) { // clockwise
stepCW();
stepCW(false);
stepsLeft--;
} else if (stepsLeft < 0){ // counter-clockwise
stepCCW();
stepCCW(false);
stepsLeft++;
}

Expand All @@ -153,10 +153,13 @@ void CheapStepper::stop(){
}


void CheapStepper::step(bool clockwise){
void CheapStepper::step(bool clockwise, bool block){

if (clockwise) seqCW();
else seqCCW();
if(block) {
delayMicroseconds(delay);
}
}

void CheapStepper::off() {
Expand Down Expand Up @@ -293,7 +296,6 @@ void CheapStepper::seq (int seqNum){
for (int p=0; p<4; p++){
digitalWrite(pins[p], pattern[p]);
}
delayMicroseconds(delay);
}


6 changes: 3 additions & 3 deletions CheapStepper.h
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Original file line number Diff line number Diff line change
Expand Up @@ -80,11 +80,11 @@ class CheapStepper



void step (bool clockwise);
void step (bool clockwise, bool block = true);
// move 1 step clockwise or counter-clockwise

void stepCW () { step (true); } // move 1 step clockwise
void stepCCW () { step (false); } // move 1 step counter-clockwise
void stepCW (bool block = true) { step (true, block); } // move 1 step clockwise
void stepCCW (bool block = true) { step (false, block); } // move 1 step counter-clockwise

int getStep() { return stepN; } // returns current miniStep position
int getDelay() { return delay; } // returns current delay (microseconds)
Expand Down