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93 lines
4.0 KiB
Markdown
93 lines
4.0 KiB
Markdown
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| Supported Targets | ESP32-S2 | ESP32-C3 | ESP32-S3 |
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| ----------------- | -------- | -------- | -------- |
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# RMT Transmit Loop Example -- Step Motor controller
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(See the README.md file in the upper level 'examples' directory for more information about examples.)
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RMT peripheral can send customized RMT items in a loop, which means we can use it to generate a configurable length of periodic signal, with accurate number of pulses.
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This example will show how to control an A4988 based step motor driver to step accurately with simple APIs, based on the RMT loop feature. The example also implements a [Smoothstep](https://en.wikipedia.org/wiki/Smoothstep) feature which works out of the box.
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## How to Use Example
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### Hardware Required
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* Recommend running this example on development board with SOC chip that support loop auto-stop feature by hardware (e.g. ESP32-S3)
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* A USB cable for Power supply and programming
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* A 4-wire (A+, A-, B+, B-) step motor
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* An A4988 module
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Connection :
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```
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+----------------+ +--------------------+ +--------------+
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| | | A4988 | | 4-wire |
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| GND +-------------+ GND | | Step |
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| | | | | Motor |
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| 5V +-------------+ VDD 1B +------+ A2 |
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| GPIO18 +------------>+ DIRECTION 1A +------+ A1 |
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| ESP GPIO17 +------------>+ STEP 2A +------+ B1 |
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| GPIO16 +------------>+ SLEEP 2B +------+ B2 |
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| | | | +--------------+
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| GPIO15 +------------>+ RESET VMOT +-------------------+
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| GPIO7 +------------>+ MS3 GND +----------+ |
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| GPIO6 +------------>+ MS2 | | |
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| GPIO5 +------------>+ MS1 | +---+--------+-----+
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| | | | | GND +12V |
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| GPIO4 +------------>+ ENABLE | | POWER SUPPLY |
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+----------------+ +--------------------+ +------------------+
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```
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IO mapping on ESP side can be changed in `step_motor_main.c`:
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```c
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// GPIO configuration
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#define STEP_MOTOR_DIRECTION_PIN GPIO_NUM_18
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#define STEP_MOTOR_STEP_PIN GPIO_NUM_17
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#define STEP_MOTOR_SLEEP_PIN GPIO_NUM_16
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#define STEP_MOTOR_RESET_PIN GPIO_NUM_15
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#define STEP_MOTOR_MS3_PIN GPIO_NUM_7
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#define STEP_MOTOR_MS2_PIN GPIO_NUM_6
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#define STEP_MOTOR_MS1_PIN GPIO_NUM_5
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#define STEP_MOTOR_ENABLE_PIN GPIO_NUM_4
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```
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### Build and Flash
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Run `idf.py -p PORT flash monitor` to build, flash and monitor the project.
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(To exit the serial monitor, type ``Ctrl-]``.)
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See the [Getting Started Guide](https://docs.espressif.com/projects/esp-idf/en/latest/get-started/index.html) for full steps to configure and use ESP-IDF to build projects.
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## Example Output
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```
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I (344) step_motor: init
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I (344) step_motor: set_step
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I (1354) step_motor: step 10 @ 1000/s
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I (2364) step_motor: step 100 @ 1000/s
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I (3464) step_motor: step 1000 @ 1200/s
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I (5294) step_motor: step 5000 @ 1400/s
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I (9864) step_motor: smoothstep start 5000 steps @ 500~1400/s
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I (14454) step_motor: smoothstep finish
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I (15454) step_motor: continuous running for 5s
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I (20454) step_motor: stop
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I (21504) step_motor: deinit
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```
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Motor should move as output indicates.
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## Troubleshooting
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For any technical queries, please open an [issue] (https://github.com/espressif/esp-idf/issues) on GitHub. We will get back to you soon.
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