Diff: main.cpp

Revision:

1:60419aa0c030

Parent:

0:3f4cfbeda9d3

Child:

2:94c5b3f09463

--- a/main.cpp	Thu Feb 04 19:46:56 2021 +0000
+++ b/main.cpp	Thu Feb 04 21:35:45 2021 +0000
@@ -24,7 +24,7 @@
 
 #define DRIVER_ADDRESS 0b00 // TMC2209 Driver address according to MS1 and MS2
 #define R_SENSE 0.11f // Match to your driver
-#define MICROSTEPS 64
+#define MICROSTEPS 32
 
 //RX, TX, RS, Addr 
 TMC2209Stepper stepper(p14, p13, R_SENSE, DRIVER_ADDRESS);
@@ -49,13 +49,16 @@
  {
     printf("\r\nConnected to mbed\r\n");
     stepper.begin();                  // UART: Init SW UART (if selected) with default baudrate
-    stepper.toff(5);                  // Enables driver in software
-    stepper.rms_current(600);         // Set motor RMS current in mA
+    stepper.toff(3);                  // Enables driver in software - 3, 5 ????
+    stepper.rms_current(800);         // Set motor RMS current in mA
+                                        // 1110, 800
     stepper.microsteps(MICROSTEPS);   // Set microsteps to 1:Fullstep ... 256: 1/256th
-    stepper.en_spreadCycle(false);    // Toggle spreadCycle on TMC2208/2209/2224
+    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
+    
     while(1) {
 //        printf("TSTEP(): %i\r\n", stepper.TSTEP());
         uint32_t status = stepper.DRV_STATUS();
@@ -65,29 +68,38 @@
 //        uint32_t otp = stepper.OTP_READ();
 //        printf("OTP_READ(): ");printBits(sizeof(otp),&otp);printf("\r\n");
       
-/*        printf("VACTUAL(): %zu \r\n", stepper.VACTUAL());
+        printf("VACTUAL(): %zu \r\n", stepper.VACTUAL());
         // increase
-        int maxspeed = 1600;
-        int actspeed = 0;
+        uint32_t maxspeed = 3000; //max 3400 or 3000
+        uint32_t actspeed = 0;
         while (actspeed < maxspeed) {
             actspeed += 200;
-            printf("actspeed: %i",actspeed);
+            if (actspeed > maxspeed) {
+                actspeed = maxspeed;
+            }
+            //printf("actspeed: %i",actspeed);
             stepper.VACTUAL(actspeed*MICROSTEPS);// Set Speed to value
-            ThisThread::sleep_for(20ms); //wait
+            ThisThread::sleep_for(25ms); //wait
         }
         printf("VACTUAL(): %zu \r\n", stepper.VACTUAL());
-        ThisThread::sleep_for(10s); 
+        ThisThread::sleep_for(60s); 
         // decrease
         maxspeed = 0;
         while (actspeed > maxspeed) {
             actspeed -= 200;
-            printf("actspeed: %i",actspeed);
+            if (actspeed < 0) {
+                actspeed = 0;
+            }
+            //printf("actspeed: %i",actspeed);
             stepper.VACTUAL(actspeed*MICROSTEPS);// Set Speed to value
-            ThisThread::sleep_for(20ms); //wait
+            ThisThread::sleep_for(25ms); //wait
         }
-*/
-        stepper.VACTUAL(400*MICROSTEPS);// Set Speed to value
+
+//        stepper.VACTUAL(400*MICROSTEPS);// Set Speed to value
         ThisThread::sleep_for(5s); //wait 
-        printf("loop...\r\n");
+        // inverse direction
+        shaft = !shaft;
+        stepper.shaft(shaft);
+        printf("...\r\n");
    }
  }
\ No newline at end of file