experiment with tmc2209 uart settings
parent
bb8327de4b
commit
bffe353b21
167
src/main.cpp
167
src/main.cpp
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@ -1,20 +1,14 @@
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/**
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* Author Teemu Mäntykallio
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* Initializes the library and runs the stepper
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* motor in alternating directions.
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*/
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#include <TMCStepper.h>
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#include <AccelStepper.h>
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#define EN_PIN 7 // Enable
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#define DIR_PIN 9 // Direction
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#define STEP_PIN 8 // Step
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#define DIAG_PIN 10 // Diagnostic
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#define CS_PIN 42 // Chip select
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#define SW_MOSI 66 // Software Master Out Slave In (MOSI)
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#define SW_MISO 44 // Software Master In Slave Out (MISO)
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#define SW_SCK 64 // Software Slave Clock (SCK)
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#define SW_RX 6 // TMC2208/TMC2224 SoftwareSerial receive pin
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#define SW_RX 5 // TMC2208/TMC2224 SoftwareSerial receive pin
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#define SW_TX 5 // TMC2208/TMC2224 SoftwareSerial transmit pin
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#define SERIAL_PORT Serial1 // TMC2208/TMC2224 HardwareSerial port
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#define DRIVER_ADDRESS 0b00 // TMC2209 Driver address according to MS1 and MS2
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@ -38,16 +32,15 @@
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//TMC2209Stepper driver(&SERIAL_PORT, R_SENSE, DRIVER_ADDRESS);
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TMC2209Stepper driver(SW_RX, SW_TX, R_SENSE, DRIVER_ADDRESS);
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AccelStepper accel = AccelStepper(accel.DRIVER, STEP_PIN, DIR_PIN);
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#define MICROSTEPS 256
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#define MICROSTEPS 16
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#define STEPS_PER_REV 200 * MICROSTEPS
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void setup() {
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pinMode(EN_PIN, OUTPUT);
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pinMode(STEP_PIN, OUTPUT);
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pinMode(DIR_PIN, OUTPUT);
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digitalWrite(EN_PIN, LOW); // Enable driver in hardware
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pinMode(DIAG_PIN, INPUT);
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digitalWrite(EN_PIN, LOW);
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Serial.begin(9600);
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Serial.println("Start...");
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@ -55,62 +48,130 @@ void setup() {
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// Enable one according to your setup
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//SPI.begin(); // SPI drivers
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//SERIAL_PORT.begin(115200); // HW UART drivers
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//driver.beginSerial(115200); // SW UART drivers
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// driver.beginSerial(115200); // SW UART drivers
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driver.begin(); // SPI: Init CS pins and possible SW SPI pins
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// UART: Init SW UART (if selected) with default 115200 baudrate
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driver.toff(4); // Enables driver in software
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driver.push();
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driver.rms_current(300); // Set motor RMS current
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driver.microsteps(MICROSTEPS); // Set microsteps to 1/16th
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// driver.irun(10);
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// driver.ihold(10);
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// driver.en_spreadCycle(true); // Toggle spreadCycle on TMC2208/2209/2224
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// driver.hysteresis_start(8);
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// driver.hysteresis_end(hysteresis_end);
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// driver.blank_time(54);
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// driver.toff(5);
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// driver.freewheel(0b01);
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// driver.TCOOLTHRS(0xFFFFF); // 20bit max
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// driver.semin(5);
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// driver.semax(2);
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// driver.sedn(0b01);
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// driver.SGTHRS(64);
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driver.toff(4); // Enables driver in software
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// driver.en_pwm_mode(true); // Toggle stealthChop on TMC2130/2160/5130/5160
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// driver.en_spreadCycle(false); // Toggle spreadCycle on TMC2208/2209/2224
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// driver.pwm_autoscale(true); // Needed for stealthChop
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Serial.print("DRV_STATUS=0b");
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Serial.println(driver.DRV_STATUS(), BIN);
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accel.setMaxSpeed(50000.0);
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accel.setAcceleration(2000.0);
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accel.setMinPulseWidth(1);
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accel.setEnablePin(EN_PIN);
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accel.setPinsInverted(false, false, true);
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accel.enableOutputs();
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// delay(200);
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Serial.print(F("\nTesting connection..."));
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uint8_t result = driver.test_connection();
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if (result) {
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Serial.println(F("failed!"));
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Serial.print(F("Likely cause: "));
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switch(result) {
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case 1: Serial.println(F("loose connection")); break;
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case 2: Serial.println(F("Likely cause: no power")); break;
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}
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Serial.println(F("Fix the problem and reset board."));
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delay(200);
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abort();
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}
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Serial.println(F("OK"));
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}
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bool shaft = false;
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unsigned int stepsDelay = 80;
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unsigned int stepsDelay = 28000 / MICROSTEPS;
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bool shouldRun = true;
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void loop() {
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// if (Serial.available()) {
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// char c = Serial.read();
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// if (c == 'r') {
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// shaft = !shaft;
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// driver.shaft(shaft);
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// Serial.println("Shaft reversed");
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// } else if (c == '+') {
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// stepsDelay *= 0.8;
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// Serial.println("Speed: " + String(stepsDelay));
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// } else if (c == '-') {
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// stepsDelay *= 1.2;
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// Serial.println("Speed: " + String(stepsDelay));
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// }
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// }
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if (Serial.available()) {
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char c = Serial.read();
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if (c == 'r') {
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shaft = !shaft;
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driver.shaft(shaft);
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Serial.println("Shaft reversed");
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} else if (c == '+') {
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stepsDelay *= 0.8;
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if (stepsDelay < 10) {
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stepsDelay = 10;
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}
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Serial.println("Speed: " + String(stepsDelay));
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} else if (c == '-') {
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stepsDelay *= 1.2;
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Serial.println("Speed: " + String(stepsDelay));
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} else if (c == 's') {
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shouldRun = false;
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Serial.println("Stopped.");
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} else if (c == '0') {
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shouldRun = false;
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digitalWrite(EN_PIN, HIGH);
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Serial.println("Stopped & disabled.");
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} else if (c == 'g') {
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shouldRun = true;
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digitalWrite(EN_PIN, LOW);
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Serial.println("Running.");
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} else if (c == 't') {
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// Serial.print("LOST_STEPS: 0b");
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// Serial.println(driver.LOST_STEPS(), DEC);
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// // Run 5000 steps and switch direction in software
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// for (uint32_t i = 17066; i>0; i--) {
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// digitalWrite(STEP_PIN, HIGH);
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// delayMicroseconds(10);
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// digitalWrite(STEP_PIN, LOW);
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// delayMicroseconds(stepsDelay);
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// }
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// delay(500);
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Serial.print("PWM_SCALE: 0b");
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Serial.println(driver.PWM_SCALE(), DEC);
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if (accel.distanceToGo() == 0) {
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accel.disableOutputs();
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delay(500);
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accel.move(17066);
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accel.enableOutputs();
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Serial.print("CHOPCONF: 0b");
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Serial.println(driver.CHOPCONF(), BIN);
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}
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// else if (c == 'h') {
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// hysteresis_end = hysteresis_end + 1;
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// if (hysteresis_end > 12) {
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// hysteresis_end = -3;
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// }
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// driver.hysteresis_end(hysteresis_end);
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// Serial.println("Hysteresis end: " + String(hysteresis_end));
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// } else if (c == '8') {
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// while (driver.cur_a() < 240) {
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// digitalWrite(STEP_PIN, HIGH);
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// digitalWrite(STEP_PIN, LOW);
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// delayMicroseconds(3);
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// }
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// }
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}
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if (shouldRun) {
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for (uint32_t i = 100; i>0; i--) {
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digitalWrite(STEP_PIN, HIGH);
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delayMicroseconds(5);
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digitalWrite(STEP_PIN, LOW);
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delayMicroseconds(stepsDelay);
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// if (digitalRead(DIAG_PIN) == HIGH) {
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// Serial.println("STALL");
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// }
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}
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if (driver.SG_RESULT() > 105) {
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shaft = !shaft;
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driver.shaft(shaft);
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}
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// Serial.println(driver.SG_RESULT(), DEC);
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// Serial.print(" ");
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// Serial.print(digitalRead(DIAG_PIN), DEC);
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// Serial.print(" ");
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// Serial.println(driver.cs2rms(driver.cs_actual()), DEC);
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}
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accel.run();
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}
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