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TB6600MotorDriver
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Rough API and initial code without testing.

This commit is contained in:
mmcwilliams 2024-06-22 10:00:00 -04:00
parent 984f12b9fc
commit 1bd8a68f01
2 changed files with 99 additions and 42 deletions
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76
TB6600MotorDriver.cpp Normal file
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@ -0,0 +1,76 @@
#include "TB6600MotorDriver.h"
TB6600MotorDriver::TB6600MotorDriver() {
//
}
TB6600MotorDriver::TB6600MotorDriver(uint8_t enablePin, uint8_t directionPin, uint8_t pulsePin, uint32_t usPulse, uint8_t microsteps) {
_enablePin = enablePin;
_directionPin = directionPin;
_pulsePin = pulsePin;
_usPulse = usPulse;
_microsteps = microsteps;
_revsteps = 200 * microsteps;
}
void TB6600MotorDriver::setup() {
if (_enablePin != 0) {
pinMode(_enablePin, OUTPUT);
}
pinMode(_directionPin, OUTPUT);
pinMode(_pulsePin, OUTPUT);
digitalWrite(_directionPin, LOW);
digitalWrite(_enablePin, HIGH);
}
void TB6600MotorDriver::setDirection(uint8_t direction) {
if (direction != _direction) {
_direction = direction;
_setDirection();
}
}
void TB6600MotorDriver::_setDirection{
digitalWrite(_directionPin, _direction ? LOW : HIGH);
}
void TB6600MotorDriver::setSpeed(uint16_t rpm) {
_usPulse = 60000000 / ((uint32_t) revsteps * (uint32_t) rpm);
}
void TB6600MotorDriver::steps(uint64_t stepCount) {
for (uint64_t i = 0; i < stepCount; i++) {
_step();
}
}
void TB6600MotorDriver::_step() {
digitalWrite(_pulsePin, HIGH);
delayMicroseconds(_usPulse);
digitalWrite(_pulsePin, LOW);
delayMicroseconds(_usPulse);
}
void TB6600MotorDriver::step() {
_step();
}
void TB6600MotorDriver::release() {
_enabled = false;
_setEnable();
}
void TB6600MotorDriver::enable() {
_enabled = true;
_setEnable();
}
void TB6600MotorDriver::_setEnable() {
if (_enablePin != 0) {
digitalWrite(_enablePin, _enabled ? HIGH : LOW);
}
}

65
TB6600MotorDriver.h
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#include <Arduino.h> #include <Arduino.h>
/** /**
* D2 X Step * Default pins
* D3 X Direction * D6 Enable +
* D4 X MS1 setting * D7 Direction +
* D5 X MS2 setting * D8 Pulse +
* D6 Y Step
* D7 Y Direction
* D8 Y MS1 setting
* D9 Y MS2 setting
*
* MS1(X/Y) MS2(X/Y) Description
* L L Full step
* H L Half step
* L H Quarter step
* H H Eighth STEP
**/ **/
class TB6600MotorDriver { class TB6600MotorDriver {
private: private:
volatile uint8_t _enablePin = 0; //0 is disabled
volatile uint8_t _directionPin = 7;
volatile uint8_t _pulsePin = 8;
const uint8_t _directionA = 3; volatile uint32_t _usPulse = 300;
const uint8_t _directionB = 7;
const uint8_t _stepA = 2;
const uint8_t _stepB = 6;
const uint8_t _settingsA1 = 4; //physically set, can't change
const uint8_t _settingsA2 = 5; volatile uint8_t _microsteps = 1; //1, 2, 4, 8, 16, 32
const uint8_t _settingsB1 = 8;
const uint8_t _settingsB2 = 9;
volatile uint32_t _usStepA = 300; volatile uint16_t _revsteps = 200; // # steps per revolution
volatile uint32_t _usStepB = 300; volatile bool _direction = true;
volatile bool _enabled = true;
//const uint8_t _microsteps = 8; //8 or 16 void _step();
volatile uint8_t _modeA = 1; //1, 2, 4, or 8 void _setDirection();
volatile uint8_t _modeB = 1; void _setEnable();
void _single(uint8_t motor);
void _micro(uint8_t motor);
void _both();
public: public:
IteadDualStepperShield(); TB6600MotorDriver();
TB6600MotorDriver(uint8_t enablePin, uint8_t directionPin, uint8_t pulsePin, uint32_t usPulse, uint8_t microsteps);
uint16_t revsteps = 200; // # steps per revolution
volatile uint8_t directionA = 1;
volatile uint8_t directionB = 1;
void setup(); void setup();
void setDir(uint8_t motor, uint8_t dir); void setDirection(uint8_t direction);
void setSpeed(uint8_t motor, uint16_t speed); void setSpeed(uint16_t rpm);
//full //full
void step(uint8_t motor, uint64_t steps, uint8_t dir); void steps(uint64_t stepCount);
void stepBoth(uint64_t steps); void step();
void onestep(uint8_t motor, uint8_t dir);
void setStepperMode (uint8_t motor, uint8_t mode);
void enable();
void release(); void release();
}; };