#include "libs/nuts_bolts.h"
#include "libs/Module.h"
#include "libs/Kernel.h"
-
+#include "libs/StepperMotor.h"
class StepTicker{
public:
StepTicker();
void set_frequency( double frequency );
void tick();
+ StepperMotor* add_stepper_motor(StepperMotor* stepper_motor);
void set_reset_delay( double seconds );
void reset_tick();
- // For some reason this can't go in the .cpp, see : http://mbed.org/forum/mbed/topic/2774/?page=1#comment-14221
- template<typename T> void attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
- FPointer* hook = new FPointer();
- hook->attach(optr, fptr);
- this->hooks.push_back(hook);
- }
-
- template<typename T> void reset_attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
- FPointer* reset_hook = new FPointer();
- reset_hook->attach(optr, fptr);
- this->reset_hooks.push_back(reset_hook);
- }
-
-
- vector<FPointer*> hooks;
- vector<FPointer*> reset_hooks;
double frequency;
-
+ vector<StepperMotor*> stepper_motors;
+ uint32_t delay;
+ uint32_t period;
+ uint32_t debug;
+ uint32_t last_duration;
};
-
-
-
-
-
-
-
-
#endif