82 lines
2.9 KiB
C++
82 lines
2.9 KiB
C++
/*
|
|
TMC26XExample.ino - - TMC26X Stepper library Example for Wiring/Arduino
|
|
|
|
Copyright (c) 2011, Interactive Matter, Marcus Nowotny
|
|
|
|
Permission is hereby granted, free of charge, to any person obtaining a copy
|
|
of this software and associated documentation files (the "Software"), to deal
|
|
in the Software without restriction, including without limitation the rights
|
|
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
|
copies of the Software, and to permit persons to whom the Software is
|
|
furnished to do so, subject to the following conditions:
|
|
|
|
The above copyright notice and this permission notice shall be included in
|
|
all copies or substantial portions of the Software.
|
|
|
|
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
|
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
|
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
|
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
|
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
|
THE SOFTWARE.
|
|
|
|
*/
|
|
#include <SPI.h>
|
|
#include <TMC26XStepper.h>
|
|
|
|
//we have a stepper motor with 200 steps per rotation, CS pin 2, dir pin 6, step pin 7 and a current of 300mA
|
|
TMC26XStepper tmc26XStepper = TMC26XStepper(200,2,6,7,700);
|
|
int curr_step;
|
|
int speed = 0;
|
|
int speedDirection = 100;
|
|
int maxSpeed = 1000;
|
|
|
|
void setup() {
|
|
Serial.begin(9600);
|
|
Serial.println("==============================");
|
|
Serial.println("TMC26X Stepper Driver Demo App");
|
|
Serial.println("==============================");
|
|
//set this according to you stepper
|
|
Serial.println("Configuring stepper driver");
|
|
//char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement
|
|
tmc26XStepper.setSpreadCycleChopper(2,24,8,6,0);
|
|
tmc26XStepper.setRandomOffTime(0);
|
|
|
|
tmc26XStepper.setMicrosteps(32);
|
|
tmc26XStepper.setStallGuardThreshold(4,0);
|
|
Serial.println("config finished, starting");
|
|
tmc26XStepper.start();
|
|
Serial.println("started");
|
|
}
|
|
|
|
void loop() {
|
|
if (!tmc26XStepper.isMoving()) {
|
|
speed+=speedDirection;
|
|
if (speed>maxSpeed) {
|
|
speed = maxSpeed;
|
|
speedDirection = -speedDirection;
|
|
} else if (speed<0) {
|
|
speedDirection = -speedDirection;
|
|
speed=speedDirection;
|
|
}
|
|
//setting the speed
|
|
Serial.print("setting speed to ");
|
|
Serial.println(speed);
|
|
tmc26XStepper.setSpeed(speed);
|
|
//we want some kind of constant running time - so the length is just a product of speed
|
|
Serial.print("Going ");
|
|
Serial.print(10*speed);
|
|
Serial.println(" steps");
|
|
tmc26XStepper.step(10*speed);
|
|
} else {
|
|
//we put out the status every 100 steps
|
|
if (tmc26XStepper.getStepsLeft()%100==0) {
|
|
Serial.print("Stall Guard: ");
|
|
Serial.println(tmc26XStepper.getCurrentStallGuardReading());
|
|
}
|
|
}
|
|
tmc26XStepper.move();
|
|
}
|
|
|
|
|