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