hahaha brrrr (quietly)

platformio.ini

@@ -12,3 +12,7 @@
 platform = atmelavr
 board = uno
 framework = arduino
+
+lib_deps =
+  SPI
+  TMCStepper

src/main.cpp

@@ -1,48 +1,75 @@
-#include "Arduino.h"
+/**
+ * Author Teemu Mäntykallio
+ * Initializes the library and runs the stepper
+ * motor in alternating directions.
+ */
 
-#define DIR_PIN 2
-#define STEP_PIN 3
-#define STEPS_PER_REV 200
+#include <TMCStepper.h>
 
-void setup()
-{
-  pinMode(LED_BUILTIN, OUTPUT);
+#define EN_PIN           7 // Enable
+#define DIR_PIN          9 // Direction
+#define STEP_PIN         8 // Step
+#define CS_PIN           42 // Chip select
+#define SW_MOSI          66 // Software Master Out Slave In (MOSI)
+#define SW_MISO          44 // Software Master In Slave Out (MISO)
+#define SW_SCK           64 // Software Slave Clock (SCK)
+#define SW_RX            6 // TMC2208/TMC2224 SoftwareSerial receive pin
+#define SW_TX            5 // TMC2208/TMC2224 SoftwareSerial transmit pin
+#define SERIAL_PORT Serial1 // TMC2208/TMC2224 HardwareSerial port
+#define DRIVER_ADDRESS 0b00 // TMC2209 Driver address according to MS1 and MS2
+
+#define R_SENSE 0.11f // Match to your driver
+                      // SilentStepStick series use 0.11
+                      // UltiMachine Einsy and Archim2 boards use 0.2
+                      // Panucatt BSD2660 uses 0.1
+                      // Watterott TMC5160 uses 0.075
+
+// Select your stepper driver type
+//TMC2130Stepper driver(CS_PIN, R_SENSE);                           // Hardware SPI
+//TMC2130Stepper driver(CS_PIN, R_SENSE, SW_MOSI, SW_MISO, SW_SCK); // Software SPI
+//TMC2660Stepper driver(CS_PIN, R_SENSE);                           // Hardware SPI
+//TMC2660Stepper driver(CS_PIN, R_SENSE, SW_MOSI, SW_MISO, SW_SCK);
+//TMC5160Stepper driver(CS_PIN, R_SENSE);
+//TMC5160Stepper driver(CS_PIN, R_SENSE, SW_MOSI, SW_MISO, SW_SCK);
+
+// TMC2208Stepper driver(&SERIAL_PORT, R_SENSE);                     // Hardware Serial
+//TMC2208Stepper driver(SW_RX, SW_TX, R_SENSE);                     // Software serial
+//TMC2209Stepper driver(&SERIAL_PORT, R_SENSE, DRIVER_ADDRESS);
+TMC2209Stepper driver(SW_RX, SW_TX, R_SENSE, DRIVER_ADDRESS);
+
+void setup() {
+  pinMode(EN_PIN, OUTPUT);
   pinMode(STEP_PIN, OUTPUT);
   pinMode(DIR_PIN, OUTPUT);
+  digitalWrite(EN_PIN, LOW);      // Enable driver in hardware
+
+                                  // Enable one according to your setup
+//SPI.begin();                    // SPI drivers
+//SERIAL_PORT.begin(115200);      // HW UART drivers
+//driver.beginSerial(115200);     // SW UART drivers
+
+  driver.begin();                 //  SPI: Init CS pins and possible SW SPI pins
+                                  // UART: Init SW UART (if selected) with default 115200 baudrate
+  driver.toff(5);                 // Enables driver in software
+  driver.rms_current(400);        // Set motor RMS current
+  // driver.microsteps(16);          // Set microsteps to 1/16th
+
+// driver.en_pwm_mode(true);       // Toggle stealthChop on TMC2130/2160/5130/5160
+  // driver.en_spreadCycle(false);   // Toggle spreadCycle on TMC2208/2209/2224
+  driver.pwm_autoscale(true);     // Needed for stealthChop
 }
 
-int pinState = LOW;
-int speedDelay = 50;
-int speedDelayDir = +1;
+bool shaft = false;
 
-void loop()
-{
-  digitalWrite(DIR_PIN, LOW);
-  for (int i = 0; i < STEPS_PER_REV; i++)
-  {
+void loop() {
+  // Run 5000 steps and switch direction in software
+  for (uint16_t i = 3200; i>0; i--) {
     digitalWrite(STEP_PIN, HIGH);
-    delayMicroseconds(500);
+    delayMicroseconds(100);
     digitalWrite(STEP_PIN, LOW);
-    delayMicroseconds(500);
-
-    delayMicroseconds(speedDelay);
-
-    if (speedDelay > 5000){
-      speedDelayDir = -1;
-    } else if (speedDelay < 50){
-      speedDelayDir = +1;
-    }
-
-    if (speedDelayDir == +1) {
-      speedDelay += 50;
-    } else {
-      speedDelay -= 50;
-    }
-
+    delayMicroseconds(120);
   }
-
-  pinState = !pinState;
-  digitalWrite(LED_BUILTIN, pinState);
-
-  // delay(500);
+  shaft = !shaft;
+  driver.shaft(shaft);
+  delay(500);
 }