Fixed motor direction

examples/motor-step.php

@@ -7,16 +7,30 @@
  */
 
 
+use Calcinai\PHPi\External\Generic\Button;
 use Calcinai\PHPi\External\Generic\Motor\Stepper;
 
 include __DIR__.'/../vendor/autoload.php';
 
-$board = \Calcinai\PHPi\Factory::create();
+$loop = \React\EventLoop\Factory::create();
+$board = \Calcinai\PHPi\Factory::create($loop);
 
 //This is for a 4 phase motor - can be any number of phases
 $motor = new Stepper([$board->getPin(5), $board->getPin(6), $board->getPin(13), $board->getPin(19)]);
+$motor->setSpeed(10);
 
-$board->getLoop()->addPeriodicTimer(0.5, [$motor, 'step']);
+//Can also hook up events like this:
+//$button = new Button($board->getPin(17));
+//$button->on('press', [$motor, 'step']);
 
 
-$board->getLoop()->run();
+//Forward for 2 sec, rev for 2 sec
+$loop->addPeriodicTimer(2, function() use($motor){
+    //Long winded way to toggle direction
+    $motor->getDirection() === Stepper::DIRECTION_FORWARD ? $motor->reverse() : $motor->forward();
+});
+
+$motor->forward();
+
+
+$loop->run();

src/PHPi/Exception/InvalidModeException.php

@@ -0,0 +1,11 @@
+<?php
+/**
+ * @package    calcinai/phpi
+ * @author     Michael Calcinai <[email protected]>
+ */
+
+namespace Calcinai\PHPi\Exception;
+
+class InvalidModeException extends \Exception {
+
+}

src/PHPi/External/Generic/Motor/Stepper.php

@@ -123,7 +123,10 @@ public function setMode($mode){
     public function setSpeed($speed){
         $this->speed = $speed;
         $this->period = 1/$speed;
-        return $this->stop()->start();
+
+        if($this->isRunning()){
+            $this->restart();
+        }
     }
 
     /**
@@ -135,6 +138,13 @@ public function setDirection($direction){
         return $this;
     }
 
+    /**
+     * @return mixed
+     */
+    public function getDirection(){
+        return $this->direction;
+    }
+
     /**
      * Seconds until full speed
      *
@@ -146,12 +156,12 @@ public function setAcceleration($acceleration){
 
     public function forward() {
         return $this->setDirection(self::DIRECTION_FORWARD)
-            ->start();
+            ->restart();
     }
 
     public function reverse() {
         return $this->setDirection(self::DIRECTION_REVERSE)
-            ->start();
+            ->restart();
     }
 
     public function stop() {
@@ -197,6 +207,10 @@ public function start(){
     }
 
 
+    public function restart(){
+        return $this->stop()->start();
+    }
+
     /**
      * Shift the pattern to the next phase
      * This really is write-only code!
@@ -208,7 +222,7 @@ public function step(){
 
         //Preform a circular shift of the pattern in the appropriate direction
         //This is for the main pattern
-        if($this->direction){
+        if($this->direction === self::DIRECTION_FORWARD){
             $shifted = $this->mask << 1 | $this->mask >> ($this->phase_msb);
         } else {
             $shifted = $this->mask >> 1 | $this->mask << ($this->phase_msb);