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Vel control #3

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Vel control #3

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424f6c9
Add support to switch to Velocity Control Mode
ruari-r Feb 2, 2025
e0b1713
Set up TMC library to support velocity control
ruari-r Feb 4, 2025
1ef4950
Add command to change max velocity in pos mode
ruari-r Feb 5, 2025
cf01019
Remove debug prints
ruari-r Feb 24, 2025
b8ff20e
Move some methods and variables to public
ruari-r Mar 27, 2025
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29 changes: 29 additions & 0 deletions BURT_TMC.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,10 @@ double StepperMotor::targetPosition() {
return targetSteps() * config.stepsPerUnit;
}

int StepperMotor::getSpeed() {
return driver.VACTUAL();
}

void StepperMotor::presetup() {
pinMode(pins.chipSelect, OUTPUT);
digitalWrite(pins.chipSelect, HIGH);
Expand Down Expand Up @@ -97,6 +101,10 @@ void StepperMotor::setup() {
Serial.println("Done!");
}

void StepperMotor::changeSpeed(int newSpeed) {
driver.VMAX(newSpeed);
}

void StepperMotor::calibrate() {
if (!limitSwitch.isAttached()) return;
while (!limitSwitch.isPressed()) {
Expand All @@ -117,6 +125,12 @@ void StepperMotor::update() {

void StepperMotor::stop() {
driver.XTARGET(driver.XACTUAL());
driver.VMAX(0);
driver.RAMPMODE(1);
driver.vstart(0);
driver.vstop(0);
driver.v1(0);
// driver.RAMPMODE(3);
}

void StepperMotor::block() {
Expand All @@ -142,3 +156,18 @@ void StepperMotor::moveBySteps(int steps) {
int target = driver.XACTUAL() + steps;
driver.XTARGET(target);
}

void StepperMotor::velControl(int startVel, int stopVel, int stepDiff) {
if (startVel > stopVel || stepDiff < 0.1) {
// startVel must be less than stopVel and stepDiff must be >= 0.1
return;
}
driver.RAMPMODE(1);
driver.VMAX(stopVel);
driver.vstart(startVel);
driver.vstop(stopVel);
driver.v1(stepDiff);

delay(3000);
driver.RAMPMODE(3);
}
6 changes: 5 additions & 1 deletion BURT_TMC.h
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Original file line number Diff line number Diff line change
Expand Up @@ -30,14 +30,15 @@ class StepperMotor {
private:
StepperMotorPins pins;
StepperMotorConfig config;
LimitSwitch limitSwitch;

TMC5160Stepper driver;

void reset_driver();
void check_driver();
void write_settings();

public:
LimitSwitch limitSwitch;
StepperMotor(StepperMotorPins pins, StepperMotorConfig config);
StepperMotor(StepperMotorPins pins, StepperMotorConfig config, LimitSwitch limitSwitch);

Expand All @@ -46,9 +47,11 @@ class StepperMotor {
int targetSteps();
double currentPosition();
double targetPosition();
int getSpeed();

void presetup();
void setup();
void changeSpeed(int newSpeed);
void calibrate();
void update();
void stop();
Expand All @@ -58,4 +61,5 @@ class StepperMotor {
void moveBy(double offset);
void moveToSteps(int steps);
void moveBySteps(int steps);
void velControl(int startVel, int stopVel, int stepDiff);
};