1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
1118
1119
1120
1121
1122
1123
1124
1125
1126
1127
1128
1129
1130
1131
1132
1133
1134
1135
1136
1137
1138
1139
1140
1141
1142
1143
1144
1145
1146
1147
1148
1149
1150
1151
1152
1153
1154
1155
1156
1157
1158
1159
1160
1161
1162
1163
1164
1165
1166
1167
1168
1169
1170
1171
1172
1173
1174
1175
1176
1177
1178
1179
1180
1181
1182
1183
1184
1185
1186
1187
1188
1189
1190
1191
1192
1193
1194
1195
1196
1197
1198
1199
1200
1201
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
1214
1215
1216
1217
1218
1219
1220
1221
1222
1223
1224
1225
1226
1227
1228
1229
1230
1231
1232
1233
1234
1235
1236
1237
1238
1239
1240
1241
1242
1243
1244
1245
1246
1247
1248
1249
1250
1251
1252
1253
1254
1255
1256
1257
1258
1259
1260
1261
1262
1263
1264
1265
1266
1267
1268
1269
1270
1271
1272
1273
1274
1275
1276
1277
1278
1279
1280
1281
1282
1283
1284
1285
1286
1287
1288
1289
1290
1291
1292
1293
1294
1295
1296
1297
1298
1299
1300
1301
1302
1303
1304
1305
1306
1307
1308
1309
1310
1311
1312
1313
1314
1315
1316
1317
1318
1319
1320
1321
1322
1323
1324
1325
1326
1327
1328
1329
1330
1331
1332
1333
1334
1335
1336
1337
1338
1339
1340
1341
1342
1343
1344
1345
1346
1347
1348
1349
1350
1351
1352
1353
1354
1355
1356
1357
1358
1359
1360
1361
1362
1363
1364
1365
1366
1367
1368
1369
1370
1371
1372
1373
1374
1375
1376
1377
1378
1379
1380
1381
1382
1383
1384
1385
1386
1387
1388
1389
1390
1391
1392
1393
1394
1395
1396
1397
1398
1399
1400
1401
1402
1403
1404
1405
1406
1407
1408
1409
1410
1411
1412
1413
1414
1415
1416
1417
1418
1419
1420
1421
1422
1423
1424
1425
1426
1427
1428
1429
1430
1431
1432
1433
1434
1435
1436
1437
1438
1439
1440
1441
1442
1443
1444
1445
1446
1447
1448
1449
1450
1451
1452
1453
1454
1455
1456
1457
1458
1459
1460
1461
1462
1463
|
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<title>Trinamic TMC26X Stepper Driver for Arduino: TMC26XStepper Class Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr style="height: 56px;">
<td style="padding-left: 0.5em;">
<div id="projectname">Trinamic TMC26X Stepper Driver for Arduino
</div>
</td>
</tr>
</tbody>
</table>
</div>
<!-- Generated by Doxygen 1.7.6.1 -->
<div id="navrow1" class="tabs">
<ul class="tablist">
<li><a href="index.html"><span>Main Page</span></a></li>
<li class="current"><a href="annotated.html"><span>Classes</span></a></li>
<li><a href="files.html"><span>Files</span></a></li>
</ul>
</div>
<div id="navrow2" class="tabs2">
<ul class="tablist">
<li><a href="annotated.html"><span>Class List</span></a></li>
<li><a href="classes.html"><span>Class Index</span></a></li>
<li><a href="functions.html"><span>Class Members</span></a></li>
</ul>
</div>
</div>
<div class="header">
<div class="summary">
<a href="#pub-methods">Public Member Functions</a> </div>
<div class="headertitle">
<div class="title">TMC26XStepper Class Reference</div> </div>
</div><!--header-->
<div class="contents">
<!-- doxytag: class="TMC26XStepper" -->
<p>Class representing a TMC26X stepper driver.
<a href="class_t_m_c26_x_stepper.html#details">More...</a></p>
<p><code>#include <<a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a>></code></p>
<p><a href="class_t_m_c26_x_stepper-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a3ef40763b8b8ab2b6ed4978c0647906c">TMC26XStepper</a> (int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=150)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">creates a new represenatation of a stepper motor connected to a TMC26X stepper driver <a href="#a3ef40763b8b8ab2b6ed4978c0647906c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aad1ed82b3e05940bde5a6c7ed3d3e8f7">start</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">configures and starts the TMC26X stepper driver. Before you called this function the stepper driver is in nonfunctional mode. <a href="#aad1ed82b3e05940bde5a6c7ed3d3e8f7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#af968e70a13068f1e71ac0fa6865630c5">un_start</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">resets the stepper in unconfigured mode. <a href="#af968e70a13068f1e71ac0fa6865630c5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a9478f43090995c8d5cdb4d4e8c07cdbd">setSpeed</a> (unsigned int whatSpeed)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the rotation speed in revolutions per minute. <a href="#a9478f43090995c8d5cdb4d4e8c07cdbd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aa564f5cc0218d30ef897c2830c768c29">getSpeed</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">reads out the currently selected speed in revolutions per minute. <a href="#aa564f5cc0218d30ef897c2830c768c29"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0">setMicrosteps</a> (int number_of_steps)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the number of microsteps in 2^i values (rounded) up to 256. <a href="#a21041579c7f9284567ee2e2a55a3afd0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a5808551ced98b79c09bbb4bf47ecfec3">getMicrosteps</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">returns the effective current number of microsteps selected. <a href="#a5808551ced98b79c09bbb4bf47ecfec3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">char </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#ac073a742496885f1f60751f9fb9c395d">step</a> (int number_of_steps)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in the other direction. <a href="#ac073a742496885f1f60751f9fb9c395d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">char </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aed5d81f1549615529c723600a68ba415">move</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Central movement method, must be called as often as possible in the lopp function and is very fast. <a href="#aed5d81f1549615529c723600a68ba415"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">char </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e">isMoving</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">checks if the motor still has to move to fulfill the last movement command. <a href="#a880d602be8414b7b965287c1790cd50e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aa6c3211f85301ca0fb2e7b73cb8142a7">getStepsLeft</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the number of steps left in the current movement. <a href="#aa6c3211f85301ca0fb2e7b73cb8142a7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">char </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a6315c18eadbc6bf4f3d81a6f80296123">stop</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Stops the motor regardless if it moves or not. <a href="#a6315c18eadbc6bf4f3d81a6f80296123"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#ac2d8a2bbae2aba3ed7c98e3ff1a06649">setConstantOffTimeChopper</a> (char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets and configure the classical Constant Off Timer Chopper. <a href="#ac2d8a2bbae2aba3ed7c98e3ff1a06649"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aa152bb7ddb72a2bc8465553a39232df2">setSpreadCycleChopper</a> (char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets and configures with spread cycle chopper. <a href="#aa152bb7ddb72a2bc8465553a39232df2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a7ffd602cf4bf385847cba034417d5f0a">setRandomOffTime</a> (char value)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Use random off time for noise reduction (0 for off, -1 for on). <a href="#a7ffd602cf4bf385847cba034417d5f0a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aaa35fac83417c16b3a941fa168e4a4d2">setCurrent</a> (unsigned int current)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">set the maximum motor current in mA (1000 is 1 Amp) Keep in mind this is the maximum peak Current. The RMS current will be 1/sqrt(2) smaller. The actual current can also be smaller by employing CoolStep. <a href="#aaa35fac83417c16b3a941fa168e4a4d2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a0c544e23efe3e4a912aacf57de84b71f">getCurrent</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">readout the motor maximum current in mA (1000 is an Amp) This is the maximum current. to get the current current - which may be affected by CoolStep us <a class="el" href="class_t_m_c26_x_stepper.html#aa00741168a7def0a7a9d2f2c9d3b99d7" title="Reads the current current setting value and recalculates the absolute current in mA (1A would be 1000...">getCurrentCurrent()</a> <a href="#a0c544e23efe3e4a912aacf57de84b71f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#af1a5abc23757860baf8ff421689a425a">setStallGuardThreshold</a> (char stall_guard_threshold, char stall_guard_filter_enabled)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">set the StallGuard threshold in order to get sensible StallGuard readings. <a href="#af1a5abc23757860baf8ff421689a425a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">char </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a056661f444725c3ae15696d1e8d91def">getStallGuardThreshold</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">reads out the StallGuard threshold <a href="#a056661f444725c3ae15696d1e8d91def"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">char </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a47e3443e3e786314c1099b8f14a91b8a">getStallGuardFilter</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">returns the current setting of the StallGuard filter <a href="#a47e3443e3e786314c1099b8f14a91b8a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e">setCoolStepConfiguration</a> (unsigned int lower_SG_threshold, unsigned int SG_hysteresis, unsigned char current_decrement_step_size, unsigned char current_increment_step_size, unsigned char lower_current_limit)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method configures the CoolStep smart energy operation. You must have a proper StallGuard configuration for the motor situation (current, voltage, speed) in rder to use this feature. <a href="#a381fbcce7c586ca2f1da8f9e704df14e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a15bf0ed5a166a5d9a41f90f3ccbc6157">setCoolStepEnabled</a> (boolean enabled)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">enables or disables the CoolStep smart energy operation feature. It must be configured before enabling it. <a href="#a15bf0ed5a166a5d9a41f90f3ccbc6157"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a6de2306b6d8dc1fa2e50fccb66d8e66d">isCoolStepEnabled</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">check if the CoolStep feature is enabled <a href="#a6de2306b6d8dc1fa2e50fccb66d8e66d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aa7469949deaa39a58038b3ddef532bc8">getCoolStepLowerSgThreshold</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">returns the lower StallGuard threshold for the CoolStep operation <a href="#aa7469949deaa39a58038b3ddef532bc8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#ac61298fd658773c28823d33ab04e970f">getCoolStepUpperSgThreshold</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">returns the upper StallGuard threshold for the CoolStep operation <a href="#ac61298fd658773c28823d33ab04e970f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned char </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aad44ee5ae73bf8e69af05674a304ba46">getCoolStepNumberOfSGReadings</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">returns the number of StallGuard readings befor CoolStep adjusts the motor current. <a href="#aad44ee5ae73bf8e69af05674a304ba46"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned char </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#ababe688a15f087d23d4ff2094fcee883">getCoolStepCurrentIncrementSize</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">returns the increment steps for the current for the CoolStep operation <a href="#ababe688a15f087d23d4ff2094fcee883"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned char </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a0c7e8541abc120a3910e35c6fbf2167c">getCoolStepLowerCurrentLimit</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">returns the absolut minium current for the CoolStep operation <a href="#a0c7e8541abc120a3910e35c6fbf2167c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125">getMotorPosition</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the current microstep position for phase A. <a href="#a1019f6f889acfd3176eecd60a0a20125"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e">getCurrentStallGuardReading</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads the current StallGuard value. <a href="#aed570ce3eea640e087b046333015de1e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned char </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a1a939fb495d747c2c11be99a740371e1">getCurrentCSReading</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads the current current setting value as fraction of the maximum current Returns values between 0 and 31, representing 1/32 to 32/32 (=1) <a href="#a1a939fb495d747c2c11be99a740371e1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#ad435db189ebb101fb2de90a484f33905">isCurrentScalingHalfed</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">a convenience method to determine if the current scaling uses 0.31V or 0.165V as reference. <a href="#ad435db189ebb101fb2de90a484f33905"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aa00741168a7def0a7a9d2f2c9d3b99d7">getCurrentCurrent</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads the current current setting value and recalculates the absolute current in mA (1A would be 1000). This method calculates the currently used current setting (either by setting or by CoolStep) and reconstructs the current in mA by usinge the VSENSE and resistor value. This method uses floating point math - so it may not be the fastest. <a href="#aa00741168a7def0a7a9d2f2c9d3b99d7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aea4c6e1fac909116c6b55f902d6cff41">isStallGuardOverThreshold</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">checks if there is a StallGuard warning in the last status <a href="#aea4c6e1fac909116c6b55f902d6cff41"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">char </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7">getOverTemperature</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return over temperature status of the last status readout return 0 is everything is OK, TMC26X_OVERTEMPERATURE_PREWARING if status is reached, TMC26X_OVERTEMPERATURE_SHUTDOWN is the chip is shutdown, -1 if the status is unknown. Keep in mind that this method does not enforce a readout but uses the value of the last status readout. You may want to use <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125" title="Get the current microstep position for phase A.">getMotorPosition()</a> or <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading()</a> to enforce an updated status readout. <a href="#a7662c2fbc03d1f5a7da5cabcc153b2d7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#ad329fa4693d3139dea241ebe3d0f33cf">isShortToGroundA</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Is motor channel A shorted to ground detected in the last status readout. <a href="#ad329fa4693d3139dea241ebe3d0f33cf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a0ccb54d40cce0d802aa56ff6261f9f3b">isShortToGroundB</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Is motor channel B shorted to ground detected in the last status readout. <a href="#a0ccb54d40cce0d802aa56ff6261f9f3b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#af97b2ab9d1ba36765ac6f17cf25ec45c">isOpenLoadA</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">iIs motor channel A connected according to the last statu readout. <a href="#af97b2ab9d1ba36765ac6f17cf25ec45c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a303590124f5ac6d6a06d0ec60d0b5303">isOpenLoadB</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">iIs motor channel A connected according to the last statu readout. <a href="#a303590124f5ac6d6a06d0ec60d0b5303"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#ab26602f360a4fb6ec6d262011675b2b0">isStandStill</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Is chopper inactive since 2^20 clock cycles - defaults to ~0,08s. <a href="#ab26602f360a4fb6ec6d262011675b2b0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#afdeded501ec2cabeffde33d31b6573f7">isStallGuardReached</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">checks if there is a StallGuard warning in the last status <a href="#afdeded501ec2cabeffde33d31b6573f7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a4472cd86ad5b65dec5ec45ce69158305">setEnabled</a> (boolean enabled)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">enables or disables the motor driver bridges. If disabled the motor can run freely. If enabled not. <a href="#a4472cd86ad5b65dec5ec45ce69158305"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a15796c0cbdeab23a343c3f25327283b6">isEnabled</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">checks if the output bridges are enabled. If the bridges are not enabled the motor can run freely <a href="#a15796c0cbdeab23a343c3f25327283b6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#af95a824bfdf49ef979b5354798e52967">readStatus</a> (char read_value)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Manually read out the status register This function sends a byte to the motor driver in order to get the current readout. The parameter read_value seletcs which value will get returned. If the read_vlaue changes in respect to the previous readout this method automatically send two bytes to the motor: one to set the redout and one to get the actual readout. So this method may take time to send and read one or two bits - depending on the previous readout. <a href="#af95a824bfdf49ef979b5354798e52967"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#ae1db5ec2ec9bfbfaea83c659e006692e">getResistor</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the current sense resistor value in milliohm. The default value of ,15 Ohm will return 150. <a href="#ae1db5ec2ec9bfbfaea83c659e006692e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#ad5e5b1bf5a46d02577dd548083877ec3">debugLastStatus</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Prints out all the information that can be found in the last status read out - it does not force a status readout. The result is printed via Serial. <a href="#ad5e5b1bf5a46d02577dd548083877ec3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#ab040d9df1e85d6fb0c105205a36b0215">version</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">library version <a href="#ab040d9df1e85d6fb0c105205a36b0215"></a><br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Class representing a TMC26X stepper driver. </p>
<p>In order to use one fo those drivers in your Arduino code you have to create an object of that class: </p>
<div class="fragment"><pre class="fragment"> <a class="code" href="class_t_m_c26_x_stepper.html" title="Class representing a TMC26X stepper driver.">TMC26XStepper</a> stepper = <a class="code" href="class_t_m_c26_x_stepper.html#a3ef40763b8b8ab2b6ed4978c0647906c" title="creates a new represenatation of a stepper motor connected to a TMC26X stepper driver">TMC26XStepper</a>(200,1,2,3,500);
</pre></div><p> see TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int rms_current)</p>
<p>Keep in mind that you need to start the driver with <a class="el" href="class_t_m_c26_x_stepper.html#aad1ed82b3e05940bde5a6c7ed3d3e8f7" title="configures and starts the TMC26X stepper driver. Before you called this function the stepper driver i...">start()</a> in order to get the TMC26X configured.</p>
<p>The most important function is the <a class="el" href="class_t_m_c26_x_stepper.html#aed5d81f1549615529c723600a68ba415" title="Central movement method, must be called as often as possible in the lopp function and is very fast...">move()</a>. It checks if the motor has to do a step or not. It is important that you call <a class="el" href="class_t_m_c26_x_stepper.html#aed5d81f1549615529c723600a68ba415" title="Central movement method, must be called as often as possible in the lopp function and is very fast...">move()</a> as often as possible in your Arduino loop() routine. I suggest to use a very fast loop routine and always call it at the beginning or the end.</p>
<p>In order to move you have to provide a movement speed with <a class="el" href="class_t_m_c26_x_stepper.html#a9478f43090995c8d5cdb4d4e8c07cdbd" title="Sets the rotation speed in revolutions per minute.">setSpeed()</a>. The speed is a positive value setting the rotations per minute.</p>
<p>To really move the motor you have to call <a class="el" href="class_t_m_c26_x_stepper.html#ac073a742496885f1f60751f9fb9c395d" title="Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in ...">step()</a> to tell the driver to move the motor the given number of steps in the given direction. Positive values move the motor in one direction, negative values in the other direction.</p>
<p>You can check with <a class="el" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e" title="checks if the motor still has to move to fulfill the last movement command.">isMoving()</a> if the mototr is still moving or stop it apruptely with <a class="el" href="class_t_m_c26_x_stepper.html#a6315c18eadbc6bf4f3d81a6f80296123" title="Stops the motor regardless if it moves or not.">stop()</a>. </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8h_source.html#l00101">101</a> of file <a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a>.</p>
</div><hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a3ef40763b8b8ab2b6ed4978c0647906c"></a><!-- doxytag: member="TMC26XStepper::TMC26XStepper" ref="a3ef40763b8b8ab2b6ed4978c0647906c" args="(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=150)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="class_t_m_c26_x_stepper.html#a3ef40763b8b8ab2b6ed4978c0647906c">TMC26XStepper::TMC26XStepper</a> </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>number_of_steps</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>cs_pin</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>dir_pin</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>step_pin</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>current</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>resistor</em> = <code>150</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>creates a new represenatation of a stepper motor connected to a TMC26X stepper driver </p>
<p>This is the main constructor. If in doubt use this. You must provide all parameters as described below.</p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">number_of_steps</td><td>the number of steps the motor has per rotation. </td></tr>
<tr><td class="paramname">cs_pin</td><td>The Arduino pin you have connected the Cient Select Pin (!CS) of the TMC26X for SPI </td></tr>
<tr><td class="paramname">dir_pin</td><td>the number of the Arduino pin the Direction input of the TMC26X is connected </td></tr>
<tr><td class="paramname">step_pin</td><td>the number of the Arduino pin the step pin of the TMC26X driver is connected. </td></tr>
<tr><td class="paramname">rms_current</td><td>the maximum current to privide to the motor in mA (!). A value of 200 would send up to 200mA to the motor </td></tr>
<tr><td class="paramname">resistor</td><td>the current sense resistor in milli Ohm, defaults to ,15 Ohm ( or 150 milli Ohm) as in the TMC260 Arduino Shield</td></tr>
</table>
</dd>
</dl>
<p>Keep in mind that you must also call <a class="el" href="class_t_m_c26_x_stepper.html#aad1ed82b3e05940bde5a6c7ed3d3e8f7" title="configures and starts the TMC26X stepper driver. Before you called this function the stepper driver i...">TMC26XStepper.start()</a> in order to configure the stepper driver for use.</p>
<p>By default the Constant Off Time chopper is used, see TCM262Stepper.setConstantOffTimeChopper() for details. This should work on most motors (YMMV). You may want to configure and use the Spread Cycle Chopper, see <a class="el" href="class_t_m_c26_x_stepper.html#aa152bb7ddb72a2bc8465553a39232df2" title="Sets and configures with spread cycle chopper.">setSpreadCycleChopper()</a>.</p>
<p>By default a microstepping of 1/32th is used to provide a smooth motor run, while still giving a good progression per step. You can select a different stepping with <a class="el" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0" title="Set the number of microsteps in 2^i values (rounded) up to 256.">setMicrosteps()</a> to aa different value. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#aad1ed82b3e05940bde5a6c7ed3d3e8f7" title="configures and starts the TMC26X stepper driver. Before you called this function the stepper driver i...">start()</a>, <a class="el" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0" title="Set the number of microsteps in 2^i values (rounded) up to 256.">setMicrosteps()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00111">111</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ad5e5b1bf5a46d02577dd548083877ec3"></a><!-- doxytag: member="TMC26XStepper::debugLastStatus" ref="ad5e5b1bf5a46d02577dd548083877ec3" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#ad5e5b1bf5a46d02577dd548083877ec3">TMC26XStepper::debugLastStatus</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Prints out all the information that can be found in the last status read out - it does not force a status readout. The result is printed via Serial. </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00902">902</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="ababe688a15f087d23d4ff2094fcee883"></a><!-- doxytag: member="TMC26XStepper::getCoolStepCurrentIncrementSize" ref="ababe688a15f087d23d4ff2094fcee883" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">unsigned char <a class="el" href="class_t_m_c26_x_stepper.html#ababe688a15f087d23d4ff2094fcee883">TMC26XStepper::getCoolStepCurrentIncrementSize</a> </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>returns the increment steps for the current for the CoolStep operation </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e" title="This method configures the CoolStep smart energy operation. You must have a proper StallGuard configu...">setCoolStepConfiguration()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00704">704</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="a0c7e8541abc120a3910e35c6fbf2167c"></a><!-- doxytag: member="TMC26XStepper::getCoolStepLowerCurrentLimit" ref="a0c7e8541abc120a3910e35c6fbf2167c" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">unsigned char <a class="el" href="class_t_m_c26_x_stepper.html#a0c7e8541abc120a3910e35c6fbf2167c">TMC26XStepper::getCoolStepLowerCurrentLimit</a> </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>returns the absolut minium current for the CoolStep operation </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e" title="This method configures the CoolStep smart energy operation. You must have a proper StallGuard configu...">setCoolStepConfiguration()</a> </dd>
<dd>
<a class="el" href="_t_m_c26_x_stepper_8h.html#a28b1774bd4aa854fb5e4b6dc7db96ecb">COOL_STEP_HALF_CS_LIMIT</a>, COOL_STEP_QUARTER_CS_LIMIT </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00712">712</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="aa7469949deaa39a58038b3ddef532bc8"></a><!-- doxytag: member="TMC26XStepper::getCoolStepLowerSgThreshold" ref="aa7469949deaa39a58038b3ddef532bc8" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">unsigned int <a class="el" href="class_t_m_c26_x_stepper.html#aa7469949deaa39a58038b3ddef532bc8">TMC26XStepper::getCoolStepLowerSgThreshold</a> </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>returns the lower StallGuard threshold for the CoolStep operation </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e" title="This method configures the CoolStep smart energy operation. You must have a proper StallGuard configu...">setCoolStepConfiguration()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00695">695</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="aad44ee5ae73bf8e69af05674a304ba46"></a><!-- doxytag: member="TMC26XStepper::getCoolStepNumberOfSGReadings" ref="aad44ee5ae73bf8e69af05674a304ba46" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">unsigned char <a class="el" href="class_t_m_c26_x_stepper.html#aad44ee5ae73bf8e69af05674a304ba46">TMC26XStepper::getCoolStepNumberOfSGReadings</a> </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>returns the number of StallGuard readings befor CoolStep adjusts the motor current. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e" title="This method configures the CoolStep smart energy operation. You must have a proper StallGuard configu...">setCoolStepConfiguration()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00708">708</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="ac61298fd658773c28823d33ab04e970f"></a><!-- doxytag: member="TMC26XStepper::getCoolStepUpperSgThreshold" ref="ac61298fd658773c28823d33ab04e970f" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">unsigned int <a class="el" href="class_t_m_c26_x_stepper.html#ac61298fd658773c28823d33ab04e970f">TMC26XStepper::getCoolStepUpperSgThreshold</a> </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>returns the upper StallGuard threshold for the CoolStep operation </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e" title="This method configures the CoolStep smart energy operation. You must have a proper StallGuard configu...">setCoolStepConfiguration()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00700">700</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="a0c544e23efe3e4a912aacf57de84b71f"></a><!-- doxytag: member="TMC26XStepper::getCurrent" ref="a0c544e23efe3e4a912aacf57de84b71f" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">unsigned int <a class="el" href="class_t_m_c26_x_stepper.html#a0c544e23efe3e4a912aacf57de84b71f">TMC26XStepper::getCurrent</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>readout the motor maximum current in mA (1000 is an Amp) This is the maximum current. to get the current current - which may be affected by CoolStep us <a class="el" href="class_t_m_c26_x_stepper.html#aa00741168a7def0a7a9d2f2c9d3b99d7" title="Reads the current current setting value and recalculates the absolute current in mA (1A would be 1000...">getCurrentCurrent()</a> </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>the maximum motor current in milli amps </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#aa00741168a7def0a7a9d2f2c9d3b99d7" title="Reads the current current setting value and recalculates the absolute current in mA (1A would be 1000...">getCurrentCurrent()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00336">336</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="a1a939fb495d747c2c11be99a740371e1"></a><!-- doxytag: member="TMC26XStepper::getCurrentCSReading" ref="a1a939fb495d747c2c11be99a740371e1" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">unsigned char <a class="el" href="class_t_m_c26_x_stepper.html#a1a939fb495d747c2c11be99a740371e1">TMC26XStepper::getCurrentCSReading</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reads the current current setting value as fraction of the maximum current Returns values between 0 and 31, representing 1/32 to 32/32 (=1) </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e" title="This method configures the CoolStep smart energy operation. You must have a proper StallGuard configu...">setCoolStepConfiguration()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00781">781</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="aa00741168a7def0a7a9d2f2c9d3b99d7"></a><!-- doxytag: member="TMC26XStepper::getCurrentCurrent" ref="aa00741168a7def0a7a9d2f2c9d3b99d7" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">unsigned int <a class="el" href="class_t_m_c26_x_stepper.html#aa00741168a7def0a7a9d2f2c9d3b99d7">TMC26XStepper::getCurrentCurrent</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reads the current current setting value and recalculates the absolute current in mA (1A would be 1000). This method calculates the currently used current setting (either by setting or by CoolStep) and reconstructs the current in mA by usinge the VSENSE and resistor value. This method uses floating point math - so it may not be the fastest. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a1a939fb495d747c2c11be99a740371e1" title="Reads the current current setting value as fraction of the maximum current Returns values between 0 a...">getCurrentCSReading()</a>, <a class="el" href="class_t_m_c26_x_stepper.html#ae1db5ec2ec9bfbfaea83c659e006692e" title="Returns the current sense resistor value in milliohm. The default value of ,15 Ohm will return 150...">getResistor()</a>, <a class="el" href="class_t_m_c26_x_stepper.html#ad435db189ebb101fb2de90a484f33905" title="a convenience method to determine if the current scaling uses 0.31V or 0.165V as reference.">isCurrentScalingHalfed()</a>, <a class="el" href="class_t_m_c26_x_stepper.html#a0c544e23efe3e4a912aacf57de84b71f" title="readout the motor maximum current in mA (1000 is an Amp) This is the maximum current. to get the current current - which may be affected by CoolStep us getCurrentCurrent()">getCurrent()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00792">792</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="aed570ce3eea640e087b046333015de1e"></a><!-- doxytag: member="TMC26XStepper::getCurrentStallGuardReading" ref="aed570ce3eea640e087b046333015de1e" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e">TMC26XStepper::getCurrentStallGuardReading</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reads the current StallGuard value. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>The current StallGuard value, lesser values indicate higher load, 0 means stall detected. Keep in mind that this routine reads and writes a value via SPI - so this may take a bit time. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#af1a5abc23757860baf8ff421689a425a" title="set the StallGuard threshold in order to get sensible StallGuard readings.">setStallGuardThreshold()</a> for tuning the readout to sensible ranges. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00770">770</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="a5808551ced98b79c09bbb4bf47ecfec3"></a><!-- doxytag: member="TMC26XStepper::getMicrosteps" ref="a5808551ced98b79c09bbb4bf47ecfec3" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int <a class="el" href="class_t_m_c26_x_stepper.html#a5808551ced98b79c09bbb4bf47ecfec3">TMC26XStepper::getMicrosteps</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>returns the effective current number of microsteps selected. </p>
<p>This function always returns the effective number of microsteps. This can be a bit different than the micro steps set in <a class="el" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0" title="Set the number of microsteps in 2^i values (rounded) up to 256.">setMicrosteps()</a> since it is rounded to 2^i.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0" title="Set the number of microsteps in 2^i values (rounded) up to 256.">setMicrosteps()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00446">446</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="a1019f6f889acfd3176eecd60a0a20125"></a><!-- doxytag: member="TMC26XStepper::getMotorPosition" ref="a1019f6f889acfd3176eecd60a0a20125" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125">TMC26XStepper::getMotorPosition</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Get the current microstep position for phase A. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>The current microstep position for phase A 0…255</dd></dl>
<p>Keep in mind that this routine reads and writes a value via SPI - so this may take a bit time. </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00762">762</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="a7662c2fbc03d1f5a7da5cabcc153b2d7"></a><!-- doxytag: member="TMC26XStepper::getOverTemperature" ref="a7662c2fbc03d1f5a7da5cabcc153b2d7" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">char <a class="el" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7">TMC26XStepper::getOverTemperature</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Return over temperature status of the last status readout return 0 is everything is OK, TMC26X_OVERTEMPERATURE_PREWARING if status is reached, TMC26X_OVERTEMPERATURE_SHUTDOWN is the chip is shutdown, -1 if the status is unknown. Keep in mind that this method does not enforce a readout but uses the value of the last status readout. You may want to use <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125" title="Get the current microstep position for phase A.">getMotorPosition()</a> or <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading()</a> to enforce an updated status readout. </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00816">816</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="ae1db5ec2ec9bfbfaea83c659e006692e"></a><!-- doxytag: member="TMC26XStepper::getResistor" ref="ae1db5ec2ec9bfbfaea83c659e006692e" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int <a class="el" href="class_t_m_c26_x_stepper.html#ae1db5ec2ec9bfbfaea83c659e006692e">TMC26XStepper::getResistor</a> </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns the current sense resistor value in milliohm. The default value of ,15 Ohm will return 150. </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00883">883</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="aa564f5cc0218d30ef897c2830c768c29"></a><!-- doxytag: member="TMC26XStepper::getSpeed" ref="aa564f5cc0218d30ef897c2830c768c29" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">unsigned int <a class="el" href="class_t_m_c26_x_stepper.html#aa564f5cc0218d30ef897c2830c768c29">TMC26XStepper::getSpeed</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>reads out the currently selected speed in revolutions per minute. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a9478f43090995c8d5cdb4d4e8c07cdbd" title="Sets the rotation speed in revolutions per minute.">setSpeed()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00221">221</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="a47e3443e3e786314c1099b8f14a91b8a"></a><!-- doxytag: member="TMC26XStepper::getStallGuardFilter" ref="a47e3443e3e786314c1099b8f14a91b8a" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">char <a class="el" href="class_t_m_c26_x_stepper.html#a47e3443e3e786314c1099b8f14a91b8a">TMC26XStepper::getStallGuardFilter</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>returns the current setting of the StallGuard filter </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>0 if not set, -1 if set </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00381">381</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="a056661f444725c3ae15696d1e8d91def"></a><!-- doxytag: member="TMC26XStepper::getStallGuardThreshold" ref="a056661f444725c3ae15696d1e8d91def" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">char <a class="el" href="class_t_m_c26_x_stepper.html#a056661f444725c3ae15696d1e8d91def">TMC26XStepper::getStallGuardThreshold</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>reads out the StallGuard threshold </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>a number between -64 and 63. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00368">368</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="aa6c3211f85301ca0fb2e7b73cb8142a7"></a><!-- doxytag: member="TMC26XStepper::getStepsLeft" ref="aa6c3211f85301ca0fb2e7b73cb8142a7" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">unsigned int <a class="el" href="class_t_m_c26_x_stepper.html#aa6c3211f85301ca0fb2e7b73cb8142a7">TMC26XStepper::getStepsLeft</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Get the number of steps left in the current movement. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>The number of steps left in the movement. This number is always positive. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00278">278</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="a6de2306b6d8dc1fa2e50fccb66d8e66d"></a><!-- doxytag: member="TMC26XStepper::isCoolStepEnabled" ref="a6de2306b6d8dc1fa2e50fccb66d8e66d" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">boolean <a class="el" href="class_t_m_c26_x_stepper.html#a6de2306b6d8dc1fa2e50fccb66d8e66d">TMC26XStepper::isCoolStepEnabled</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>check if the CoolStep feature is enabled </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a15bf0ed5a166a5d9a41f90f3ccbc6157" title="enables or disables the CoolStep smart energy operation feature. It must be configured before enablin...">setCoolStepEnabled()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00691">691</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="ad435db189ebb101fb2de90a484f33905"></a><!-- doxytag: member="TMC26XStepper::isCurrentScalingHalfed" ref="ad435db189ebb101fb2de90a484f33905" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">boolean <a class="el" href="class_t_m_c26_x_stepper.html#ad435db189ebb101fb2de90a484f33905">TMC26XStepper::isCurrentScalingHalfed</a> </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>a convenience method to determine if the current scaling uses 0.31V or 0.165V as reference. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>false if 0.13V is the reference voltage, true if 0.165V is used. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00887">887</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="a15796c0cbdeab23a343c3f25327283b6"></a><!-- doxytag: member="TMC26XStepper::isEnabled" ref="a15796c0cbdeab23a343c3f25327283b6" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">boolean <a class="el" href="class_t_m_c26_x_stepper.html#a15796c0cbdeab23a343c3f25327283b6">TMC26XStepper::isEnabled</a> </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>checks if the output bridges are enabled. If the bridges are not enabled the motor can run freely </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>true if the bridges and by that the motor driver are enabled, false if not. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a4472cd86ad5b65dec5ec45ce69158305" title="enables or disables the motor driver bridges. If disabled the motor can run freely. If enabled not.">setEnabled()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00729">729</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="a880d602be8414b7b965287c1790cd50e"></a><!-- doxytag: member="TMC26XStepper::isMoving" ref="a880d602be8414b7b965287c1790cd50e" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">char <a class="el" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e">TMC26XStepper::isMoving</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>checks if the motor still has to move to fulfill the last movement command. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>0 if the motor stops, -1 if the motor is moving.</dd></dl>
<p>This method can be used to determine if the motor is ready for new movements. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#ac073a742496885f1f60751f9fb9c395d" title="Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in ...">step()</a>, <a class="el" href="class_t_m_c26_x_stepper.html#aed5d81f1549615529c723600a68ba415" title="Central movement method, must be called as often as possible in the lopp function and is very fast...">move()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00274">274</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="af97b2ab9d1ba36765ac6f17cf25ec45c"></a><!-- doxytag: member="TMC26XStepper::isOpenLoadA" ref="af97b2ab9d1ba36765ac6f17cf25ec45c" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">boolean <a class="el" href="class_t_m_c26_x_stepper.html#af97b2ab9d1ba36765ac6f17cf25ec45c">TMC26XStepper::isOpenLoadA</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>iIs motor channel A connected according to the last statu readout. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>true is yes, false if not. Keep in mind that this method does not enforce a readout but uses the value of the last status readout. You may want to use <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125" title="Get the current microstep position for phase A.">getMotorPosition()</a> or <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading()</a> to enforce an updated status readout. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00846">846</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="a303590124f5ac6d6a06d0ec60d0b5303"></a><!-- doxytag: member="TMC26XStepper::isOpenLoadB" ref="a303590124f5ac6d6a06d0ec60d0b5303" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">boolean <a class="el" href="class_t_m_c26_x_stepper.html#a303590124f5ac6d6a06d0ec60d0b5303">TMC26XStepper::isOpenLoadB</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>iIs motor channel A connected according to the last statu readout. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>true is yes, false if not. Keep in mind that this method does not enforce a readout but uses the value of the last status readout. You may want to use <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125" title="Get the current microstep position for phase A.">getMotorPosition()</a> or <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading()</a> to enforce an updated status readout. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00854">854</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="ad329fa4693d3139dea241ebe3d0f33cf"></a><!-- doxytag: member="TMC26XStepper::isShortToGroundA" ref="ad329fa4693d3139dea241ebe3d0f33cf" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">boolean <a class="el" href="class_t_m_c26_x_stepper.html#ad329fa4693d3139dea241ebe3d0f33cf">TMC26XStepper::isShortToGroundA</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Is motor channel A shorted to ground detected in the last status readout. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>true is yes, false if not. Keep in mind that this method does not enforce a readout but uses the value of the last status readout. You may want to use <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125" title="Get the current microstep position for phase A.">getMotorPosition()</a> or <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading()</a> to enforce an updated status readout. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00830">830</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="a0ccb54d40cce0d802aa56ff6261f9f3b"></a><!-- doxytag: member="TMC26XStepper::isShortToGroundB" ref="a0ccb54d40cce0d802aa56ff6261f9f3b" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">boolean <a class="el" href="class_t_m_c26_x_stepper.html#a0ccb54d40cce0d802aa56ff6261f9f3b">TMC26XStepper::isShortToGroundB</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Is motor channel B shorted to ground detected in the last status readout. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>true is yes, false if not. Keep in mind that this method does not enforce a readout but uses the value of the last status readout. You may want to use <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125" title="Get the current microstep position for phase A.">getMotorPosition()</a> or <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading()</a> to enforce an updated status readout. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00838">838</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="aea4c6e1fac909116c6b55f902d6cff41"></a><!-- doxytag: member="TMC26XStepper::isStallGuardOverThreshold" ref="aea4c6e1fac909116c6b55f902d6cff41" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">boolean <a class="el" href="class_t_m_c26_x_stepper.html#aea4c6e1fac909116c6b55f902d6cff41">TMC26XStepper::isStallGuardOverThreshold</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>checks if there is a StallGuard warning in the last status </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>0 if there was no warning, -1 if there was some warning. Keep in mind that this method does not enforce a readout but uses the value of the last status readout. You may want to use <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125" title="Get the current microstep position for phase A.">getMotorPosition()</a> or <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading()</a> to enforce an updated status readout.</dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#af1a5abc23757860baf8ff421689a425a" title="set the StallGuard threshold in order to get sensible StallGuard readings.">setStallGuardThreshold()</a> for tuning the readout to sensible ranges. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00803">803</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="afdeded501ec2cabeffde33d31b6573f7"></a><!-- doxytag: member="TMC26XStepper::isStallGuardReached" ref="afdeded501ec2cabeffde33d31b6573f7" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">boolean <a class="el" href="class_t_m_c26_x_stepper.html#afdeded501ec2cabeffde33d31b6573f7">TMC26XStepper::isStallGuardReached</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>checks if there is a StallGuard warning in the last status </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>0 if there was no warning, -1 if there was some warning. Keep in mind that this method does not enforce a readout but uses the value of the last status readout. You may want to use <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125" title="Get the current microstep position for phase A.">getMotorPosition()</a> or <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading()</a> to enforce an updated status readout.</dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#aea4c6e1fac909116c6b55f902d6cff41" title="checks if there is a StallGuard warning in the last status">isStallGuardOverThreshold()</a> TODO why?</dd>
<dd>
<a class="el" href="class_t_m_c26_x_stepper.html#af1a5abc23757860baf8ff421689a425a" title="set the StallGuard threshold in order to get sensible StallGuard readings.">setStallGuardThreshold()</a> for tuning the readout to sensible ranges. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00870">870</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="ab26602f360a4fb6ec6d262011675b2b0"></a><!-- doxytag: member="TMC26XStepper::isStandStill" ref="ab26602f360a4fb6ec6d262011675b2b0" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">boolean <a class="el" href="class_t_m_c26_x_stepper.html#ab26602f360a4fb6ec6d262011675b2b0">TMC26XStepper::isStandStill</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Is chopper inactive since 2^20 clock cycles - defaults to ~0,08s. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>true is yes, false if not. Keep in mind that this method does not enforce a readout but uses the value of the last status readout. You may want to use <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125" title="Get the current microstep position for phase A.">getMotorPosition()</a> or <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading()</a> to enforce an updated status readout. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00862">862</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="aed5d81f1549615529c723600a68ba415"></a><!-- doxytag: member="TMC26XStepper::move" ref="aed5d81f1549615529c723600a68ba415" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">char <a class="el" href="class_t_m_c26_x_stepper.html#aed5d81f1549615529c723600a68ba415">TMC26XStepper::move</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Central movement method, must be called as often as possible in the lopp function and is very fast. </p>
<p>This routine checks if the motor still has to move, if the waiting delay has passed to send a new step command to the motor and manages the number of steps yet to move to fulfill the current move command.</p>
<p>This function is implemented to be as fast as possible to call it as often as possible in your loop routine. The more regurlarly you call this function the better. In both senses of 'regularly': Calling it as often as possible is not a bad idea and if you even manage that the intervals you call this function are not too irregular helps too.</p>
<p>You can call this routine even if you know that the motor is not miving. It introduces just a very small penalty in your code. You must not call <a class="el" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e" title="checks if the motor still has to move to fulfill the last movement command.">isMoving()</a> to determine if you need to call this function, since taht is done internally already and only slows down you code.</p>
<p>How often you call this function directly influences your top miving speed for the motor. It may be a good idea to call this from an timer overflow interrupt to ensure proper calling. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#ac073a742496885f1f60751f9fb9c395d" title="Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in ...">step()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00246">246</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="af95a824bfdf49ef979b5354798e52967"></a><!-- doxytag: member="TMC26XStepper::readStatus" ref="af95a824bfdf49ef979b5354798e52967" args="(char read_value)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#af95a824bfdf49ef979b5354798e52967">TMC26XStepper::readStatus</a> </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>read_value</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Manually read out the status register This function sends a byte to the motor driver in order to get the current readout. The parameter read_value seletcs which value will get returned. If the read_vlaue changes in respect to the previous readout this method automatically send two bytes to the motor: one to set the redout and one to get the actual readout. So this method may take time to send and read one or two bits - depending on the previous readout. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">read_value</td><td>selects which value to read out (0..3). You can use the defines TMC26X_READOUT_POSITION, TMC_262_READOUT_STALLGUARD, or TMC_262_READOUT_CURRENT </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="_t_m_c26_x_stepper_8h.html#aff05d4a47ef8821322ccc2a20785fbee">TMC26X_READOUT_POSITION</a>, TMC_262_READOUT_STALLGUARD, TMC_262_READOUT_CURRENT </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00742">742</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="ac2d8a2bbae2aba3ed7c98e3ff1a06649"></a><!-- doxytag: member="TMC26XStepper::setConstantOffTimeChopper" ref="ac2d8a2bbae2aba3ed7c98e3ff1a06649" args="(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#ac2d8a2bbae2aba3ed7c98e3ff1a06649">TMC26XStepper::setConstantOffTimeChopper</a> </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>constant_off_time</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char </td>
<td class="paramname"><em>blank_time</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char </td>
<td class="paramname"><em>fast_decay_time_setting</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char </td>
<td class="paramname"><em>sine_wave_offset</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned char </td>
<td class="paramname"><em>use_current_comparator</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Sets and configure the classical Constant Off Timer Chopper. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">constant_off_time</td><td>The off time setting controls the minimum chopper frequency. For most applications an off time within the range of 5μs to 20μs will fit. Setting this parameter to zero completely disables all driver transistors and the motor can free-wheel. 0: chopper off, 1:15: off time setting (1 will work with minimum blank time of 24 clocks) </td></tr>
<tr><td class="paramname">blank_time</td><td>Selects the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. For most low current drivers, a setting of 1 or 2 is good. For high current applications with large MOSFETs, a setting of 2 or 3 will be required. 0 (min setting) … (3) amx setting </td></tr>
<tr><td class="paramname">fast_decay_time_setting</td><td>Fast decay time setting. Controls the portion of fast decay for each chopper cycle. 0: slow decay only, 1…15: duration of fast decay phase </td></tr>
<tr><td class="paramname">sine_wave_offset</td><td>Sine wave offset. Controls the sine wave offset. A positive offset corrects for zero crossing error. -3…-1: negative offset, 0: no offset,1…12: positive offset </td></tr>
<tr><td class="paramname">use_curreent_comparator</td><td>Selects usage of the current comparator for termination of the fast decay cycle. If current comparator is enabled, it terminates the fast decay cycle in case the current reaches a higher negative value than the actual positive value. (0 disable, -1 enable).</td></tr>
</table>
</dd>
</dl>
<p>The classic constant off time chopper uses a fixed portion of fast decay following each on phase. While the duration of the on time is determined by the chopper comparator, the fast decay time needs to be set by the user in a way, that the current decay is enough for the driver to be able to follow the falling slope of the sine wave, and on the other hand it should not be too long, in order to minimize motor current ripple and power dissipation. This best can be tuned using an oscilloscope or trying out motor smoothness at different velocities. A good starting value is a fast decay time setting similar to the slow decay time setting. After tuning of the fast decay time, the offset should be determined, in order to have a smooth zero transition. This is necessary, because the fast decay phase leads to the absolute value of the motor current being lower than the target current (see figure 17). If the zero offset is too low, the motor stands still for a short moment during current zero crossing, if it is set too high, it makes a larger microstep. Typically, a positive offset setting is required for optimum operation.</p>
<dl class="see"><dt><b>See also:</b></dt><dd>setSpreadCycleChoper() for other alternatives. </dd>
<dd>
<a class="el" href="class_t_m_c26_x_stepper.html#a7ffd602cf4bf385847cba034417d5f0a" title="Use random off time for noise reduction (0 for off, -1 for on).">setRandomOffTime()</a> for spreading the noise over a wider spectrum </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00473">473</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="a381fbcce7c586ca2f1da8f9e704df14e"></a><!-- doxytag: member="TMC26XStepper::setCoolStepConfiguration" ref="a381fbcce7c586ca2f1da8f9e704df14e" args="(unsigned int lower_SG_threshold, unsigned int SG_hysteresis, unsigned char current_decrement_step_size, unsigned char current_increment_step_size, unsigned char lower_current_limit)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e">TMC26XStepper::setCoolStepConfiguration</a> </td>
<td>(</td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>lower_SG_threshold</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>SG_hysteresis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned char </td>
<td class="paramname"><em>current_decrement_step_size</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned char </td>
<td class="paramname"><em>current_increment_step_size</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned char </td>
<td class="paramname"><em>lower_current_limit</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>This method configures the CoolStep smart energy operation. You must have a proper StallGuard configuration for the motor situation (current, voltage, speed) in rder to use this feature. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">lower_SG_threshold</td><td>Sets the lower threshold for stallGuard2TM reading. Below this value, the motor current becomes increased. Allowed values are 0...480 </td></tr>
<tr><td class="paramname">SG_hysteresis</td><td>Sets the distance between the lower and the upper threshold for stallGuard2TM reading. Above the upper threshold (which is lower_SG_threshold+SG_hysteresis+1) the motor current becomes decreased. Allowed values are 0...480 </td></tr>
<tr><td class="paramname">current_decrement_step_size</td><td>Sets the current decrement steps. If the StallGuard value is above the threshold the current gets decremented by this step size. 0...32 </td></tr>
<tr><td class="paramname">current_increment_step_size</td><td>Sets the current increment step. The current becomes incremented for each measured stallGuard2TM value below the lower threshold. 0...8 </td></tr>
<tr><td class="paramname">lower_current_limit</td><td>Sets the lower motor current limit for coolStepTM operation by scaling the CS value. Values can be COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT The CoolStep smart energy operation automatically adjust the current sent into the motor according to the current load, read out by the StallGuard in order to provide the optimum torque with the minimal current consumption. You configure the CoolStep current regulator by defining upper and lower bounds of StallGuard readouts. If the readout is above the limit the current gets increased, below the limit the current gets decreased. You can specify the upper an lower threshold of the StallGuard readout in order to adjust the current. You can also set the number of StallGuard readings neccessary above or below the limit to get a more stable current adjustement. The current adjustement itself is configured by the number of steps the current gests in- or decreased and the absolut minimum current (1/2 or 1/4th otf the configured current). </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="_t_m_c26_x_stepper_8h.html#a28b1774bd4aa854fb5e4b6dc7db96ecb">COOL_STEP_HALF_CS_LIMIT</a>, COOL_STEP_QUARTER_CS_LIMIT </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00636">636</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="a15bf0ed5a166a5d9a41f90f3ccbc6157"></a><!-- doxytag: member="TMC26XStepper::setCoolStepEnabled" ref="a15bf0ed5a166a5d9a41f90f3ccbc6157" args="(boolean enabled)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#a15bf0ed5a166a5d9a41f90f3ccbc6157">TMC26XStepper::setCoolStepEnabled</a> </td>
<td>(</td>
<td class="paramtype">boolean </td>
<td class="paramname"><em>enabled</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>enables or disables the CoolStep smart energy operation feature. It must be configured before enabling it. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">enabled</td><td>true if CoolStep should be enabled, false if not. </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e" title="This method configures the CoolStep smart energy operation. You must have a proper StallGuard configu...">setCoolStepConfiguration()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00676">676</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="aaa35fac83417c16b3a941fa168e4a4d2"></a><!-- doxytag: member="TMC26XStepper::setCurrent" ref="aaa35fac83417c16b3a941fa168e4a4d2" args="(unsigned int current)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#aaa35fac83417c16b3a941fa168e4a4d2">TMC26XStepper::setCurrent</a> </td>
<td>(</td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>current</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>set the maximum motor current in mA (1000 is 1 Amp) Keep in mind this is the maximum peak Current. The RMS current will be 1/sqrt(2) smaller. The actual current can also be smaller by employing CoolStep. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">current</td><td>the maximum motor current in mA </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a0c544e23efe3e4a912aacf57de84b71f" title="readout the motor maximum current in mA (1000 is an Amp) This is the maximum current. to get the current current - which may be affected by CoolStep us getCurrentCurrent()">getCurrent()</a>, <a class="el" href="class_t_m_c26_x_stepper.html#aa00741168a7def0a7a9d2f2c9d3b99d7" title="Reads the current current setting value and recalculates the absolute current in mA (1A would be 1000...">getCurrentCurrent()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00292">292</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="a4472cd86ad5b65dec5ec45ce69158305"></a><!-- doxytag: member="TMC26XStepper::setEnabled" ref="a4472cd86ad5b65dec5ec45ce69158305" args="(boolean enabled)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#a4472cd86ad5b65dec5ec45ce69158305">TMC26XStepper::setEnabled</a> </td>
<td>(</td>
<td class="paramtype">boolean </td>
<td class="paramname"><em>enabled</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>enables or disables the motor driver bridges. If disabled the motor can run freely. If enabled not. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">enabled</td><td>a boolean value true if the motor should be enabled, false otherwise. </td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00716">716</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="a21041579c7f9284567ee2e2a55a3afd0"></a><!-- doxytag: member="TMC26XStepper::setMicrosteps" ref="a21041579c7f9284567ee2e2a55a3afd0" args="(int number_of_steps)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0">TMC26XStepper::setMicrosteps</a> </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>number_of_steps</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Set the number of microsteps in 2^i values (rounded) up to 256. </p>
<p>This method set's the number of microsteps per step in 2^i interval. This means you can select 1, 2, 4, 16, 32, 64, 128 or 256 as valid microsteps. If you give any other value it will be rounded to the next smaller number (3 would give a microstepping of 2). You can always check the current microstepping with <a class="el" href="class_t_m_c26_x_stepper.html#a5808551ced98b79c09bbb4bf47ecfec3" title="returns the effective current number of microsteps selected.">getMicrosteps()</a>. </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00394">394</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="a7ffd602cf4bf385847cba034417d5f0a"></a><!-- doxytag: member="TMC26XStepper::setRandomOffTime" ref="a7ffd602cf4bf385847cba034417d5f0a" args="(char value)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#a7ffd602cf4bf385847cba034417d5f0a">TMC26XStepper::setRandomOffTime</a> </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>value</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Use random off time for noise reduction (0 for off, -1 for on). </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">value</td><td>0 for off, -1 for on</td></tr>
</table>
</dd>
</dl>
<p>In a constant off time chopper scheme both coil choppers run freely, i.e. are not synchronized. The frequency of each chopper mainly depends on the coil current and the position dependant motor coil inductivity, thus it depends on the microstep position. With some motors a slightly audible beat can occur between the chopper frequencies, especially when they are near to each other. This typically occurs at a few microstep positions within each quarter wave. This effect normally is not audible when compared to mechanical noise generated by ball bearings, etc. Further factors which can cause a similar effect are a poor layout of sense resistor GND connection. In order to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided. It modulates the slow decay time setting when switched on. The random off time feature further spreads the chopper spectrum, reducing electromagnetic emission on single frequencies. </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00624">624</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="a9478f43090995c8d5cdb4d4e8c07cdbd"></a><!-- doxytag: member="TMC26XStepper::setSpeed" ref="a9478f43090995c8d5cdb4d4e8c07cdbd" args="(unsigned int whatSpeed)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#a9478f43090995c8d5cdb4d4e8c07cdbd">TMC26XStepper::setSpeed</a> </td>
<td>(</td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>whatSpeed</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Sets the rotation speed in revolutions per minute. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">whatSpeed</td><td>the desired speed in rotations per minute. </td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00208">208</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="aa152bb7ddb72a2bc8465553a39232df2"></a><!-- doxytag: member="TMC26XStepper::setSpreadCycleChopper" ref="aa152bb7ddb72a2bc8465553a39232df2" args="(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#aa152bb7ddb72a2bc8465553a39232df2">TMC26XStepper::setSpreadCycleChopper</a> </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>constant_off_time</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char </td>
<td class="paramname"><em>blank_time</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char </td>
<td class="paramname"><em>hysteresis_start</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char </td>
<td class="paramname"><em>hysteresis_end</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char </td>
<td class="paramname"><em>hysteresis_decrement</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Sets and configures with spread cycle chopper. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">constant_off_time</td><td>The off time setting controls the minimum chopper frequency. For most applications an off time within the range of 5μs to 20μs will fit. Setting this parameter to zero completely disables all driver transistors and the motor can free-wheel. 0: chopper off, 1:15: off time setting (1 will work with minimum blank time of 24 clocks) </td></tr>
<tr><td class="paramname">blank_time</td><td>Selects the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. For most low current drivers, a setting of 1 or 2 is good. For high current applications with large MOSFETs, a setting of 2 or 3 will be required. 0 (min setting) … (3) amx setting </td></tr>
<tr><td class="paramname">hysteresis_start</td><td>Hysteresis start setting. Please remark, that this value is an offset to the hysteresis end value. 1 … 8 </td></tr>
<tr><td class="paramname">hysteresis_end</td><td>Hysteresis end setting. Sets the hysteresis end value after a number of decrements. Decrement interval time is controlled by hysteresis_decrement. The sum hysteresis_start + hysteresis_end must be <16. At a current setting CS of max. 30 (amplitude reduced to 240), the sum is not limited. </td></tr>
<tr><td class="paramname">hysteresis_decrement</td><td>Hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time. 0 (fast decrement) … 3 (slow decrement).</td></tr>
</table>
</dd>
</dl>
<p>The spreadCycle chopper scheme (pat.fil.) is a precise and simple to use chopper principle, which automatically determines the optimum fast decay portion for the motor. Anyhow, a number of settings can be made in order to optimally fit the driver to the motor. Each chopper cycle is comprised of an on-phase, a slow decay phase, a fast decay phase and a second slow decay phase. The slow decay phases limit the maximum chopper frequency and are important for low motor and driver power dissipation. The hysteresis start setting limits the chopper frequency by forcing the driver to introduce a minimum amount of current ripple into the motor coils. The motor inductivity determines the ability to follow a changing motor current. The duration of the on- and fast decay phase needs to cover at least the blank time, because the current comparator is disabled during this time.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a7ffd602cf4bf385847cba034417d5f0a" title="Use random off time for noise reduction (0 for off, -1 for on).">setRandomOffTime()</a> for spreading the noise over a wider spectrum </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00552">552</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="af1a5abc23757860baf8ff421689a425a"></a><!-- doxytag: member="TMC26XStepper::setStallGuardThreshold" ref="af1a5abc23757860baf8ff421689a425a" args="(char stall_guard_threshold, char stall_guard_filter_enabled)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#af1a5abc23757860baf8ff421689a425a">TMC26XStepper::setStallGuardThreshold</a> </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>stall_guard_threshold</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char </td>
<td class="paramname"><em>stall_guard_filter_enabled</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>set the StallGuard threshold in order to get sensible StallGuard readings. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">stall_guard_threshold</td><td>-64 … 63 the StallGuard threshold </td></tr>
<tr><td class="paramname">stall_guard_filter_enabled</td><td>0 if the filter is disabled, -1 if it is enabled</td></tr>
</table>
</dd>
</dl>
<p>The StallGuard threshold is used to optimize the StallGuard reading to sensible values. It should be at 0 at the maximum allowable load on the otor (but not before). = is a good starting point (and the default) If you get Stall Gaurd readings of 0 without any load or with too little laod increase the value. If you get readings of 1023 even with load decrease the setting.</p>
<p>If you switch on the filter the StallGuard reading is only updated each 4th full step to reduce the noise in the reading.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading()</a> to read out the current value. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00346">346</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="aad1ed82b3e05940bde5a6c7ed3d3e8f7"></a><!-- doxytag: member="TMC26XStepper::start" ref="aad1ed82b3e05940bde5a6c7ed3d3e8f7" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#aad1ed82b3e05940bde5a6c7ed3d3e8f7">TMC26XStepper::start</a> </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>configures and starts the TMC26X stepper driver. Before you called this function the stepper driver is in nonfunctional mode. </p>
<p>This routine configures the TMC26X stepper driver for the given values via SPI. Most member functions are non functional if the driver has not been started. Therefore it is best to call this in your Arduino setup() function. </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00157">157</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="ac073a742496885f1f60751f9fb9c395d"></a><!-- doxytag: member="TMC26XStepper::step" ref="ac073a742496885f1f60751f9fb9c395d" args="(int number_of_steps)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">char <a class="el" href="class_t_m_c26_x_stepper.html#ac073a742496885f1f60751f9fb9c395d">TMC26XStepper::step</a> </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>number_of_steps</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in the other direction. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">number_of_steps</td><td>The number of steps to move the motor. </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>0 if the motor was not moving and moves now. -1 if the motor is moving and the new steps could not be set.</dd></dl>
<p>If the previous movement is not finished yet the function will return -1 and not change the steps to move the motor. If the motor does not move it return 0</p>
<p>The direction of the movement is indicated by the sign of the steps parameter. It is not determinable if positive values are right or left This depends on the internal construction of the motor and how you connected it to the stepper driver.</p>
<p>You can always verify with <a class="el" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e" title="checks if the motor still has to move to fulfill the last movement command.">isMoving()</a> or even use <a class="el" href="class_t_m_c26_x_stepper.html#a6315c18eadbc6bf4f3d81a6f80296123" title="Stops the motor regardless if it moves or not.">stop()</a> to stop the motor before giving it new step directions. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e" title="checks if the motor still has to move to fulfill the last movement command.">isMoving()</a>, <a class="el" href="class_t_m_c26_x_stepper.html#aa6c3211f85301ca0fb2e7b73cb8142a7" title="Get the number of steps left in the current movement.">getStepsLeft()</a>, <a class="el" href="class_t_m_c26_x_stepper.html#a6315c18eadbc6bf4f3d81a6f80296123" title="Stops the motor regardless if it moves or not.">stop()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00229">229</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="a6315c18eadbc6bf4f3d81a6f80296123"></a><!-- doxytag: member="TMC26XStepper::stop" ref="a6315c18eadbc6bf4f3d81a6f80296123" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">char <a class="el" href="class_t_m_c26_x_stepper.html#a6315c18eadbc6bf4f3d81a6f80296123">TMC26XStepper::stop</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Stops the motor regardless if it moves or not. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>-1 if the motor was moving and is really stoped or 0 if it was not moving at all.</dd></dl>
<p>This method directly and apruptely stops the motor and may be used as an emergency stop. </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00282">282</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="af968e70a13068f1e71ac0fa6865630c5"></a><!-- doxytag: member="TMC26XStepper::un_start" ref="af968e70a13068f1e71ac0fa6865630c5" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#af968e70a13068f1e71ac0fa6865630c5">TMC26XStepper::un_start</a> </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>resets the stepper in unconfigured mode. </p>
<p>This routine enables you to call start again. It does not change anything in the internal stepper configuration or the desired configuration. It just marks the stepper as not yet startet. You do not have to reconfigure the stepper to start it again, but it is not reset to any factory settings this has to be configured back by yourself. (Hint: Normally you do not need this function) </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00199">199</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="ab040d9df1e85d6fb0c105205a36b0215"></a><!-- doxytag: member="TMC26XStepper::version" ref="ab040d9df1e85d6fb0c105205a36b0215" args="(void)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int <a class="el" href="class_t_m_c26_x_stepper.html#ab040d9df1e85d6fb0c105205a36b0215">TMC26XStepper::version</a> </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>library version </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>the version number as int. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00897">897</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a></li>
<li><a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a></li>
</ul>
</div><!-- contents -->
<hr class="footer"/><address class="footer"><small>
Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by  <a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.7.6.1
</small></address>
</body>
</html>
|
