refactor to step / dir pins

mwood77 · Oct 24, 2024 · d42f859 · d42f859
1 parent 9be4153
commit d42f859
Showing 1 changed file with 23 additions and 17 deletions.
diff --git a/src/platformio/osww-server/src/utils/MotorControl.cpp b/src/platformio/osww-server/src/utils/MotorControl.cpp
@@ -10,40 +10,43 @@
 #if STEPPER_MOTOR_CONTROL
     #include <TMC2209.h>
 
-    // Instantiate TMC2209
-    TMC2209 stepper_driver;
-    HardwareSerial & serial_stream = Serial1;
-
-    const int RX_PIN = 5;
-    const int TX_PIN = 26;
-    const uint8_t HARDWARE_ENABLE_PIN = 4;
+    HardwareSerial & serial_stream = Serial2;
 
-    const long SERIAL_BAUD_RATE = 115200;
+    const uint8_t STEP_PIN = 17;
+    const uint8_t DIRECTION_PIN = 16;
+
     const int32_t RUN_VELOCITY = 20000;
     const int32_t STOP_VELOCITY = 0;
-
+    const uint16_t HALF_STEP_DURATION_MICROSECONDS = 10;
 
     // current values may need to be reduced to prevent overheating depending on
     // specific motor and power supply voltage
     const uint8_t RUN_CURRENT_PERCENT = 100;
 
+    // Instantiate TMC2209
+    TMC2209 stepper_driver;
+
 #endif
 
 MotorControl::MotorControl(int pinA, int pinB, bool pwmMotorControl)
 {
     #if STEPPER_MOTOR_CONTROL
-        stepper_driver.setup(serial_stream, SERIAL_BAUD_RATE, TMC2209::SERIAL_ADDRESS_0, RX_PIN, TX_PIN);
-        stepper_driver.setHardwareEnablePin(HARDWARE_ENABLE_PIN);
+
+        stepper_driver.setup(serial_stream);
+
+        pinMode(STEP_PIN, OUTPUT);
+        pinMode(DIRECTION_PIN, OUTPUT);
+
         stepper_driver.setRunCurrent(RUN_CURRENT_PERCENT);
         stepper_driver.enableCoolStep();
         stepper_driver.enable();
 
         _motorDirection = 0;
     #else
-    _pinA = pinA;
-    _pinB = pinB;
-    _motorDirection = 0;
-    _pwmMotorControl = pwmMotorControl;
+        _pinA = pinA;
+        _pinB = pinB;
+        _motorDirection = 0;
+        _pwmMotorControl = pwmMotorControl;
     #endif
 }
 
@@ -53,7 +56,8 @@ void MotorControl::clockwise()
         MX1508 pwmControl(_pinA, _pinB, CH1, CH2);
         pwmControl.motorGo(motorSpeed);
     #elif STEPPER_MOTOR_CONTROL
-        stepper_driver.moveAtVelocity(RUN_VELOCITY);
+        // stepper_driver.moveAtVelocity(RUN_VELOCITY);
+        stepper_driver.moveUsingStepDirInterface();
     #else
         digitalWrite(_pinA, HIGH);
         digitalWrite(_pinB, LOW);
@@ -67,7 +71,8 @@ void MotorControl::countClockwise()
         MX1508 pwmControl(_pinA, _pinB, CH1, CH2);
         pwmControl.motorRev(motorSpeed);
     #elif STEPPER_MOTOR_CONTROL
-        stepper_driver.moveAtVelocity(RUN_VELOCITY);
+        // stepper_driver.moveAtVelocity(RUN_VELOCITY);
+        stepper_driver.moveUsingStepDirInterface();
     #else
         digitalWrite(_pinA, LOW);
         digitalWrite(_pinB, HIGH);
@@ -82,6 +87,7 @@ void MotorControl::stop()
         pwmControl.motorBrake();
     #elif STEPPER_MOTOR_CONTROL
         stepper_driver.moveAtVelocity(STOP_VELOCITY);
+        stepper_driver.moveUsingStepDirInterface();
     #else
         digitalWrite(_pinA, LOW);
         digitalWrite(_pinB, LOW);