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75 lines
3.0 KiB
75 lines
3.0 KiB
/**
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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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#define EN_PIN 38 // Enable
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#define DIR_PIN 55 // Direction
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#define STEP_PIN 54 // Step
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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 63 // TMC2208/TMC2224 SoftwareSerial receive pin
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#define SW_TX 40 // 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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#define R_SENSE 0.11f // Match to your driver
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// SilentStepStick series use 0.11
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// UltiMachine Einsy and Archim2 boards use 0.2
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// Panucatt BSD2660 uses 0.1
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// Watterott TMC5160 uses 0.075
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// Select your stepper driver type
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//TMC2130Stepper driver(CS_PIN, R_SENSE); // Hardware SPI
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//TMC2130Stepper driver(CS_PIN, R_SENSE, SW_MOSI, SW_MISO, SW_SCK); // Software SPI
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//TMC2660Stepper driver(EN_PIN, R_SENSE); // Hardware SPI
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//TMC2660Stepper driver(EN_PIN, R_SENSE, SW_MOSI, SW_MISO, SW_SCK);
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//TMC5160Stepper driver(CS_PIN, R_SENSE);
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//TMC5160Stepper driver(CS_PIN, R_SENSE, SW_MOSI, SW_MISO, SW_SCK);
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//TMC2208Stepper driver(&SERIAL_PORT, R_SENSE); // Hardware Serial
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//TMC2208Stepper driver(SW_RX, SW_TX, R_SENSE); // Software serial
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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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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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// 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.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(5); // Enables driver in software
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driver.rms_current(600); // Set motor RMS current
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driver.microsteps(16); // Set microsteps to 1/16th
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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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}
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bool shaft = false;
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void loop() {
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// Run 5000 steps and switch direction in software
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for (uint16_t i = 5000; i>0; i--) {
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digitalWrite(STEP_PIN, HIGH);
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delayMicroseconds(160);
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digitalWrite(STEP_PIN, LOW);
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delayMicroseconds(160);
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}
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shaft = !shaft;
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driver.shaft(shaft);
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}
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