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esp-idf/examples/peripherals/rmt/stepper_motor
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morris 08845cf669 feat(rmt): added a help function for allocating encoder memory 
The encoder memory location should respect the RMT_MEM_ALLOC_CAPS,
which is affected by some Kconfig options, like ISR_IRAM_SAFE

Closes https://github.com/espressif/esp-idf/issues/13032
2024-01-25 18:44:25 +08:00
..
main feat(rmt): added a help function for allocating encoder memory 2024-01-25 18:44:25 +08:00
CMakeLists.txt
pytest_stepper_motor.py
README.md

README.md

Supported Targets ESP32-C6 ESP32-H2 ESP32-P4 ESP32-S3

RMT Based Stepper Motor Smooth Controller

(See the README.md file in the upper level 'examples' directory for more information about examples.)

One RMT TX channel can use different encoders in sequence, which is useful to generate waveforms that have obvious multiple stages.

This example shows how to drive a stepper motor with a STEP/DIR interfaced controller (e.g. DRV8825) in a smooth way. To smoothly drive a stepper motor, there're three phases: Acceleration, Uniform and Deceleration. Accordingly, this example implements two encoders so that RMT channel can generate the waveforms with different characteristics:

  • curve_encoder is to encode the Acceleration and Deceleration phase
  • uniform_encoder is to encode the *Uniform phase

How to Use Example

Hardware Required

  • A development board with any supported Espressif SOC chip (see Supported Targets table above)
  • A USB cable for Power supply and programming
  • A two-phase four-wire stepper motor
  • A DRV8825 stepper motor controller

Connection :

+---------------------------+             +--------------------+      +--------------+
|          ESP Board        |             |       DRV8825      |      |    4-wire    |
|                       GND +-------------+ GND                |      |     Step     |
|                           |             |                    |      |     Motor    |
|                       3V3 +-------------+ VDD             A+ +------+ A+           |
|                           |             |                    |      |              |
|       STEP_MOTOR_GPIO_DIR +------------>+ DIR             A- +------+ A-           |
|                           |             |                    |      |              |
|      STEP_MOTOR_GPIO_STEP +------------>+ STEP            B- +------+ B-           |
|                           |             |                    |      |              |
|                           |      3V3----+ nSLEEP          B+ +------+ B+           |
|                           |             |                    |      +--------------+
|                           |      3V3----+ nRST            VM +-------------------+
|                           |             |                    |                   |
|                           |  3V3|GND----+ M2             GND +----------+        |
|                           |             |                    |          |        |
|                           |  3V3|GND----+ M1                 |          |        |
|                           |             |                    |          |        |
|                           |  3V3|GND----+ M0                 |      +---+--------+-----+
|                           |             |                    |      |  GND     +12V    |
|        STEP_MOTOR_GPIO_EN +------------>+ nEN                |      |   POWER SUPPLY   |
+---------------------------+             +--------------------+      +------------------+

The GPIO number used in this example can be changed according to your board, by the macro STEP_MOTOR_GPIO_EN, STEP_MOTOR_GPIO_DIR and STEP_MOTOR_GPIO_STEP defined in the source file.

Build and Flash

Run idf.py -p PORT flash monitor to build, flash and monitor the project.

(To exit the serial monitor, type Ctrl-].)

See the Getting Started Guide for full steps to configure and use ESP-IDF to build projects.

Example Output

I (0) cpu_start: Starting scheduler on APP CPU.
I (325) example: Initialize EN + DIR GPIO
I (325) gpio: GPIO[16]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (335) gpio: GPIO[17]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (345) example: Create RMT TX channel
I (365) example: Set spin direction
I (365) example: Enable step motor
I (375) example: Create motor encoders
I (405) example: Start RMT channel
I (405) example: Spin motor for 6000 steps: 500 accel + 5000 uniform + 500 decel

Troubleshooting

For any technical queries, please open an [issue] (https://github.com/espressif/esp-idf/issues) on GitHub. We will get back to you soon.