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AccelStepper tests

main
radex 2023-01-17 21:02:37 +01:00
parent 43c5fe0142
commit bb8327de4b
2 changed files with 55 additions and 13 deletions
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1
platformio.ini
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@ -16,3 +16,4 @@ framework = arduino
lib_deps =
SPI
TMCStepper
AccelStepper

67
src/main.cpp
View File

@ -5,6 +5,7 @@
*/
#include <TMCStepper.h>
#include <AccelStepper.h>
#define EN_PIN 7 // Enable
#define DIR_PIN 9 // Direction
@ -37,12 +38,20 @@
//TMC2209Stepper driver(&SERIAL_PORT, R_SENSE, DRIVER_ADDRESS);
TMC2209Stepper driver(SW_RX, SW_TX, R_SENSE, DRIVER_ADDRESS);
AccelStepper accel = AccelStepper(accel.DRIVER, STEP_PIN, DIR_PIN);
#define MICROSTEPS 256
#define STEPS_PER_REV 200 * MICROSTEPS
void setup() {
pinMode(EN_PIN, OUTPUT);
pinMode(STEP_PIN, OUTPUT);
pinMode(DIR_PIN, OUTPUT);
digitalWrite(EN_PIN, LOW); // Enable driver in hardware
Serial.begin(9600);
Serial.println("Start...");
// Enable one according to your setup
//SPI.begin(); // SPI drivers
//SERIAL_PORT.begin(115200); // HW UART drivers
@ -50,26 +59,58 @@ void setup() {
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.toff(4); // Enables driver in software
driver.rms_current(300); // Set motor RMS current
driver.microsteps(MICROSTEPS); // 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
// driver.pwm_autoscale(true); // Needed for stealthChop
Serial.print("DRV_STATUS=0b");
Serial.println(driver.DRV_STATUS(), BIN);
accel.setMaxSpeed(50000.0);
accel.setAcceleration(2000.0);
accel.setMinPulseWidth(1);
accel.setEnablePin(EN_PIN);
accel.setPinsInverted(false, false, true);
accel.enableOutputs();
}
bool shaft = false;
unsigned int stepsDelay = 80;
void loop() {
// Run 5000 steps and switch direction in software
for (uint16_t i = 3200; i>0; i--) {
digitalWrite(STEP_PIN, HIGH);
delayMicroseconds(100);
digitalWrite(STEP_PIN, LOW);
delayMicroseconds(120);
// if (Serial.available()) {
// char c = Serial.read();
// if (c == 'r') {
// shaft = !shaft;
// driver.shaft(shaft);
// Serial.println("Shaft reversed");
// } else if (c == '+') {
// stepsDelay *= 0.8;
// Serial.println("Speed: " + String(stepsDelay));
// } else if (c == '-') {
// stepsDelay *= 1.2;
// Serial.println("Speed: " + String(stepsDelay));
// }
// }
// // Run 5000 steps and switch direction in software
// for (uint32_t i = 17066; i>0; i--) {
// digitalWrite(STEP_PIN, HIGH);
// delayMicroseconds(10);
// digitalWrite(STEP_PIN, LOW);
// delayMicroseconds(stepsDelay);
// }
// delay(500);
if (accel.distanceToGo() == 0) {
accel.disableOutputs();
delay(500);
accel.move(17066);
accel.enableOutputs();
}
shaft = !shaft;
driver.shaft(shaft);
delay(500);
accel.run();
}