From 6aedec5a2d56cec1cde73f50aa712d8c1522f07a Mon Sep 17 00:00:00 2001
From: Gregg <homespan@icloud.com>
Date: Sat, 8 Jul 2023 17:56:33 -0500
Subject: [PATCH] Added ability to chain enable(), disable(), and brake()

---
 src/src/extras/StepperControl.cpp | 14 +++++++++-----
 src/src/extras/StepperControl.h   |  6 +++---
 2 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/src/src/extras/StepperControl.cpp b/src/src/extras/StepperControl.cpp
index 9c961c5..31d33ea 100644
--- a/src/src/extras/StepperControl.cpp
+++ b/src/src/extras/StepperControl.cpp
@@ -117,25 +117,29 @@ void StepperControl::waitForAck(){
 
 //////////////////////////
 
-void StepperControl::brake(){
+StepperControl *StepperControl::brake(){
   move(0,10,BRAKE);
   while(stepsRemaining());
+  return(this);
 }
 
 //////////////////////////
 
-void StepperControl::disable(){
+StepperControl *StepperControl::disable(){
   move(0,10,DISABLE);
   while(stepsRemaining());
+  return(this);
 }
 
 //////////////////////////
 
-void StepperControl::enable(){
+StepperControl *StepperControl::enable(){
   move(0,10);
   while(stepsRemaining());
-  
-}//////////////////////////
+  return(this);  
+}
+
+//////////////////////////
 
 void StepperControl::motorTask(void *args){
   StepperControl *motor = (StepperControl *)args;
diff --git a/src/src/extras/StepperControl.h b/src/src/extras/StepperControl.h
index d25c608..05f7bc4 100644
--- a/src/src/extras/StepperControl.h
+++ b/src/src/extras/StepperControl.h
@@ -97,9 +97,9 @@ class StepperControl {
   int position();
   void setPosition(int pos);
   int stepsRemaining();
-  void enable();
-  void disable();
-  void brake();
+  StepperControl *enable();
+  StepperControl *disable();
+  StepperControl *brake();
 };
 
 //////////////////////////