get direct step running from encoder

[clinton/Smoothieware.git] / src / libs / StepTicker.cpp

diff --git a/src/libs/StepTicker.cpp b/src/libs/StepTicker.cpp
index 75be985..3a8f62e 100644 (file)
--- a/src/libs/StepTicker.cpp
+++ b/src/libs/StepTicker.cpp
@@ -186,6 +186,13 @@ void  StepTicker::acceleration_tick() {
     }
 }
 
+void StepTicker::schedule_unstep(int motor)
+{
+    this->unstep[motor]= 1;
+    LPC_TIM1->TCR = 3;
+    LPC_TIM1->TCR = 1;
+}
+
 void StepTicker::TIMER0_IRQHandler (void){
     // Reset interrupt register
     LPC_TIM0->IR |= 1 << 0;