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Diffstat (limited to 'ArduinoAddons/Arduino_1.6.x/libraries/TMC26XStepper/examples/TMC26XExample/TMC26XExample.ino')
-rwxr-xr-x | ArduinoAddons/Arduino_1.6.x/libraries/TMC26XStepper/examples/TMC26XExample/TMC26XExample.ino | 82 |
1 files changed, 82 insertions, 0 deletions
diff --git a/ArduinoAddons/Arduino_1.6.x/libraries/TMC26XStepper/examples/TMC26XExample/TMC26XExample.ino b/ArduinoAddons/Arduino_1.6.x/libraries/TMC26XStepper/examples/TMC26XExample/TMC26XExample.ino new file mode 100755 index 000000000..a2cc69081 --- /dev/null +++ b/ArduinoAddons/Arduino_1.6.x/libraries/TMC26XStepper/examples/TMC26XExample/TMC26XExample.ino @@ -0,0 +1,82 @@ +/* + 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(); +} + + |