fine tune the parameters

src/main.cpp

@@ -46,7 +46,7 @@ void setup() {
   // TOFF General  enable  for  the  motor  driver,  the  actual value does not influence StealthChop
   driver.toff(4);
   // RMS (mA) current for running, second arg - hold current multiplier
-  driver.rms_current(1500, 0.5);
+  driver.rms_current(1800, 0.5);
   driver.microsteps(0);
 
   // Enable stealthChop
@@ -72,20 +72,20 @@ void setup() {
   // The driver.SG_RESULT() returns the result in the legacy 10 bit format, where the first and the last bit are always set to 0.
   // Dividing it by 2 gives us the value in the same range as driver.SGTHRS(STALL_VALUE);
   // if the (converted) SG_RESULT <= 2 * SGTHRS, stall is reported
-  driver.SGTHRS(20);
+  driver.SGTHRS(35);
 
   // default value: SGTHRS / 16 + 1
   // for sgResult = semin * 16, the current starts getting increased to resist the resistance
   // the bigger it is, the bigger the chance the motor is going to react to adversity
   // by increasing the current
   // 0..15
-  driver.semin(9);
+  driver.semin(15);
 
   // SEMAX is used to determine when the extra current should be disabled.
   // the higher it is, the harder it's going to be to go back to energy efficient mode
   // 0 to 2 recommended
   // 0..15
-  driver.semax(15);
+  driver.semax(8);
 
   // If the StallGuard4result is equal to or above (SEMIN+SEMAX+1)*32 the motro current becomes decreased to save energy
   driver.sedn(0b01);
@@ -114,7 +114,7 @@ void setup() {
 }
 
 bool shaft = false;
-unsigned int stepsDelay = 28000 / MICROSTEPS;
+unsigned int stepsDelay = 10000;
 bool shouldRun = true;
 int stepsMade = 0;
 int stallSigs = 0;
@@ -156,6 +156,9 @@ void loop() {
 			Serial.print("SGTHRS: ");
 			Serial.println(driver.SGTHRS(), DEC);
 
+			Serial.print("SG_RESULT: ");
+      Serial.println(driver.SG_RESULT()/2, DEC);
+
 			Serial.print("GCONF: ");
 			Serial.println(driver.GCONF(), DEC);
 
@@ -185,7 +188,7 @@ void loop() {
       // driver.shaft(shaft);
     }
 
-    for (uint32_t i = 20; i>0; i--) {
+    for (uint32_t i = 24; i>0; i--) {
       digitalWrite(STEP_PIN, LOW);
       delayMicroseconds(1);
       digitalWrite(STEP_PIN, HIGH);
@@ -206,7 +209,9 @@ void loop() {
       Serial.print("STALLs ");
       Serial.println(stallSigs, DEC);
 
-      if (stallSigs > 3) {
+      if (stallSigs >= 3) {
+        Serial.print("Will reverse at");
+        Serial.println(driver.SG_RESULT()/2, DEC);
         delay(200);
         shaft = !shaft;
         driver.shaft(shaft);