![](/media/cache/profiles/15ae3b9d6286f1b2a489ea4f3f4abaed.50x50_q85.jpg)
Testprogram for TMC2209-Library. Uses Speed-Control via VACTUAL instead of Step/Dir
Dependencies: TMCStepper mRotaryEncoder-os
Diff: main.cpp
- Revision:
- 5:7f250f463aa2
- Parent:
- 4:12bfa2c1729f
- Child:
- 6:6ad7bc10ac20
diff -r 12bfa2c1729f -r 7f250f463aa2 main.cpp --- a/main.cpp Thu Mar 18 20:48:31 2021 +0000 +++ b/main.cpp Sun Mar 21 13:31:53 2021 +0000 @@ -12,12 +12,14 @@ */ -DigitalOut ledDir(LED2); +DigitalOut ledCW(LED1); // Show totation clockwise +DigitalOut ledCCW(LED2); // Show rotation counterclockwise + //Virtual serial port over USB with 15200 baud 8N1 static BufferedSerial host(USBTX, USBRX,115200); //mRotaryEncoder(PinName pinA, PinName pinB, PinName pinSW, PinMode pullMode=PullUp, int debounceTime_us=1000) -mRotaryEncoder wheel(p16, p17, p18,PullUp,1500); +mRotaryEncoder wheel(p16, p17, p18,PullUp,3000); // default 1500 // hardware parameters: // MOTOR Steps per Revolution ( 1/8 Microsteps, 200Steps per Rev / 1.8 degrees per FullStep) @@ -26,16 +28,18 @@ #define GR 288 #define DRIVER_ADDRESS 0b00 // TMC2209 Driver address according to MS1 and MS2 -#define R_SENSE 0.11f // R-Sense in OHM.Match to your driver +#define R_SENSE 0.11f // R-Sense in OHM. Match to your driver #define MICROSTEPS 128 // # of microsteps -#define RMSCURRENT 600 // RMS current of Stepper Coil in mA +#define RMSCURRENT 800 // RMS current of Stepper Coil in mA +#define MAXSPEED 5000 // Maximaum speed (5000 with RMS800 @12V/06Amax) // A TMCStepper-object with UART and given address and R-Sense //RX, TX, RS, Addr TMC2209Stepper stepper(p14, p13, R_SENSE, DRIVER_ADDRESS); -bool enc_pressed = false; // Button of rotaryencoder was pressed -bool enc_rotated = false; // rotary encoder was totaded left or right +volatile bool enc_pressed = false; // Button of rotaryencoder was pressed +volatile bool enc_rotated = false; // rotary encoder was totaded left or right +volatile bool enc_action = false; // any change happened int lastGet; int thisGet; @@ -69,7 +73,7 @@ { printf("\r\nConnected to mbed\r\n"); - //Int-Handler for RotaryEncoder + //Intitiallize RotaryEncoder // call trigger_sw() when button of rotary-encoder is pressed wheel.attachSW(&trigger_sw); // call trigger_rot() when the shaft is rotaded left or right @@ -77,20 +81,30 @@ lastGet = 0; // set encrotated, so startup enc_rotated = true; - + enc_action = true; + ledCW = 1; + ledCCW = 1; + + // Initialize Stepper + printf("connecting to TMC-Module...\r\n"); stepper.begin(); // UART: Init SW UART (if selected) with default baudrate + printf("TMC-Version: %02X\r\n",stepper.version()); stepper.toff(3); // Enables driver in software - 3, 5 ???? stepper.rms_current(RMSCURRENT); // Set motor RMS current in mA / min 500 for 24V/speed:3000 // 1110, 800 + // working: 800 12V/0,6Amax, Speed up to 5200=4U/min + stepper.microsteps(MICROSTEPS); // Set microsteps to 1:Fullstep ... 256: 1/256th stepper.en_spreadCycle(true); // Toggle spreadCycle on TMC2208/2209/2224: default false, true: much faster!!!! stepper.pwm_autoscale(true); // Needed for stealthChop - printf("TMC-Version: %02X\r\n",stepper.version()); - bool shaft = false; //direction CW or CCW + uint32_t status = stepper.DRV_STATUS(); + printf("DRV_STATUS(): "); printBits(sizeof(status),&status);printf("\r\n"); + + //bool shaft = false; //direction CW or CCW while(1) { -/* +/* Spped-UP/Down-Cycles // printf("TSTEP(): %i\r\n", stepper.TSTEP()); uint32_t status = stepper.DRV_STATUS(); printf("DRV_STATUS(): "); printBits(sizeof(status),&status);printf("\r\n"); @@ -135,22 +149,51 @@ printf("IFCNT(): %zu \r\n",stepper.IFCNT()); printf("...\r\n"); */ +////// Control motor-speed by rotary-encoder + // shaft has been rotated? if (enc_rotated) { enc_rotated = false; + enc_action = true; thisGet = wheel.Get(); + if (thisGet*100 > MAXSPEED) { //on upper limit? + wheel.Set( MAXSPEED/100); + thisGet = wheel.Get(); + } + if (thisGet*100 < MAXSPEED*(-1)) { //on lower limit? + wheel.Set( MAXSPEED*(-1)/100); + thisGet = wheel.Get(); + } stepper.VACTUAL(thisGet*100*MICROSTEPS);// Set Speed to value printf("actspeed: %i\r\n",thisGet*100); - + } // Button pressed? if (enc_pressed) { enc_pressed = false; + enc_action = true; wheel.Set(0); thisGet = wheel.Get(); stepper.VACTUAL(thisGet*100*MICROSTEPS);// Set Speed to value printf("actspeed: %i\r\n",thisGet*100); } + // anything changed? + if (enc_action) { + enc_action = false; + // show direction of motor on leds + if (thisGet > 0) { + ledCW = 1; + ledCCW= 0; + } + if (thisGet < 0) { + ledCW = 0; + ledCCW= 1; + } + if (thisGet == 0) { + ledCW = 1; + ledCCW= 1; + } + } } // while 1 } \ No newline at end of file