Merge pull request #77 from laurb9/get-steps

Added getStepsCompleted(), getStepsRemaining(), getDirection() incorp…

src/BasicStepperDriver.cpp

@@ -197,10 +197,12 @@ void BasicStepperDriver::startBrake(void){
     }
 }
 /*
- * Stop movement immediately.
+ * Stop movement immediately and return remaining steps.
  */
-void BasicStepperDriver::stop(void){
+long BasicStepperDriver::stop(void){
+    long retval = steps_remaining;
     steps_remaining = 0;
+    return retval;
 }
 /*
  * Return calculated time to complete the given move

src/BasicStepperDriver.h

@@ -204,13 +204,33 @@ class BasicStepperDriver {
     void startBrake(void);
     /*
      * Immediate stop
+     * Returns the number of steps remaining.
      */
-    void stop(void);
+    long stop(void);
     /*
      * State querying
      */
     enum State getCurrentState(void);
-
+    /*
+     * Get the number of completed steps so far.
+     * This is always a positive number
+     */
+    long getStepsCompleted(void){
+        return step_count;
+    }
+    /*
+     * Get the number of steps remaining to complete the move
+     * This is always a positive number
+     */
+    long getStepsRemaining(void){
+        return steps_remaining;
+    }
+    /*
+     * Get movement direction: forward +1, back -1
+     */
+    int getDirection(void){
+        return (dir_state == HIGH) ? 1 : -1;
+    }
     /*
      * Return calculated time to complete the given move
      */