k i'm gettin the hang of it

src/main.cpp

@@ -63,12 +63,16 @@ void setup() {
   // driver.toff(5);
   // driver.freewheel(0b01);
 
+  // This is the lower threshold velocity for switching on smart energy CoolStep and StallGuard to DIAG output
+  // Set this parameter to disable CoolStep at low speeds, where it cannot work reliably.
+  // The stall output signal become enabled when exceeding this velocity. It becomes disabled again once the velocity falls below this threshold
+  // (TCOOLTHRS ≥ TSTEP > TPWMTHRS)
   driver.TCOOLTHRS(0xFFFFF); // 20bit max
 
   // 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(30);
+  driver.SGTHRS(20);
 
   // default value: SGTHRS / 16 + 1
   // for sgResult = semin * 16, the current starts getting increased to resist the resistance
@@ -90,7 +94,6 @@ void setup() {
 // driver.en_pwm_mode(true);       // Toggle stealthChop on TMC2130/2160/5130/5160
   // driver.pwm_autoscale(true);     // Needed for stealthChop
 
-  // delay(200);
   Serial.print(F("\nTesting connection..."));
   uint8_t result = driver.test_connection();
   if (result) {
@@ -105,6 +108,9 @@ void setup() {
       abort();
   }
   Serial.println(F("OK"));
+
+  // stealthChop2 regulates to nominal current and stores result to PWM_OFS_AUTO (Requires stand still for >130ms)
+  delay(130);
 }
 
 bool shaft = false;
@@ -200,7 +206,7 @@ void loop() {
       Serial.print("STALLs ");
       Serial.println(stallSigs, DEC);
 
-      if (stallSigs > 5) {
+      if (stallSigs > 3) {
         delay(200);
         shaft = !shaft;
         driver.shaft(shaft);
@@ -209,6 +215,11 @@ void loop() {
       stallSigs = 0;
     }
 
+    // Serial.println(driver.TCOOLTHRS(), DEC);
+    // Serial.println(driver.TSTEP(), DEC);
+    // Serial.println(driver.TPWMTHRS(), DEC);
+    // Serial.println();
+
     // if (driver.SG_RESULT() > 105) {
     //   shaft = !shaft;
     //   driver.shaft(shaft);