71 lines
1.9 KiB
C++
71 lines
1.9 KiB
C++
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#include <Arduino.h>
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#include <AccelStepper.h>
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// https://learn.watterott.com/de/silentstepstick/pinconfig/tmc2130/
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#define EN_PIN D0
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#define ROLL_STEP_PIN D8
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#define ROLL_DIR_PIN D7
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#define PITCH_STEP_PIN D6
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#define PITCH_DIR_PIN D5
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AccelStepper stepperPitch(AccelStepper::DRIVER, PITCH_STEP_PIN, PITCH_DIR_PIN);
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AccelStepper stepperRoll(AccelStepper::DRIVER, ROLL_STEP_PIN, ROLL_DIR_PIN);
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unsigned long stepsPerRotationPitch=16*42*400/12; //12z to 42z, 16x microstepping
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unsigned long stepsPerRotationRoll=16*85*400/17;//17z to 85z, 16x microstepping
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void setup() {
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Serial.begin(115200);
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stepperPitch.setMaxSpeed(15000);
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stepperPitch.setAcceleration(80000.0);
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stepperPitch.moveTo(stepsPerRotationPitch/2);
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stepperRoll.setMaxSpeed(15000);
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stepperRoll.setAcceleration(80000.0);
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stepperRoll.moveTo(stepsPerRotationRoll/8);
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}
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void loop() {
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static unsigned long last_change;
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if (stepperPitch.distanceToGo() == 0) {
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if (stepperPitch.currentPosition()>100) {
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Serial.print("Pitch Moving to: "); Serial.println(0);
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stepperPitch.moveTo(0);
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}else{
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Serial.print("Pitch Moving to: "); Serial.println(stepsPerRotationPitch/2);
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stepperPitch.moveTo(stepsPerRotationPitch/2);
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}
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}
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if (stepperRoll.distanceToGo() == 0) {
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if (stepperRoll.currentPosition()>100) {
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Serial.print("Roll Moving to: "); Serial.println(0);
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stepperRoll.moveTo(0);
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}else{
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Serial.print("Roll Moving to: "); Serial.println(stepsPerRotationRoll/8);
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stepperRoll.moveTo(stepsPerRotationRoll/8);
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}
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}
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bool resultPitch = stepperPitch.run();
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bool resultRoll = stepperRoll.run();
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if ( millis() > last_change+500 ) {
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last_change=millis();
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//Serial.print("run="); Serial.print(result);
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//Serial.print(" dist="); Serial.print(stepperPitch.distanceToGo());
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//Serial.print(" pos="); Serial.print(stepperPitch.currentPosition());
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//Serial.println();
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}
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}
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