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80 lines
4.4 KiB
Markdown
80 lines
4.4 KiB
Markdown
| Supported Targets | ESP32-C6 | ESP32-H2 | ESP32-P4 | ESP32-S3 |
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| ----------------- | -------- | -------- | -------- | -------- |
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# RMT Based Stepper Motor Smooth 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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One RMT TX channel can use different encoders in sequence, which is useful to generate waveforms that have obvious multiple stages.
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This example shows how to drive a stepper motor with a **STEP/DIR** interfaced controller (e.g. [DRV8825](https://www.ti.com/lit/ds/symlink/drv8825.pdf)) in a [smooth](https://en.wikipedia.org/wiki/Smoothstep) 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:
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* `curve_encoder` is to encode the **Acceleration** and **Deceleration** phase
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* `uniform_encoder` is to encode the ***Uniform** phase
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## How to Use Example
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### Hardware Required
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* A development board with any supported Espressif SOC chip (see `Supported Targets` table above)
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* A USB cable for Power supply and programming
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* A two-phase four-wire stepper motor
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* A DRV8825 stepper motor controller
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Connection :
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```
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+---------------------------+ +--------------------+ +--------------+
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| ESP Board | | DRV8825 | | 4-wire |
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| GND +-------------+ GND | | Step |
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| | | | | Motor |
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| 3V3 +-------------+ VDD A+ +------+ A+ |
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| | | | | |
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| STEP_MOTOR_GPIO_DIR +------------>+ DIR A- +------+ A- |
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| | | | | |
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| STEP_MOTOR_GPIO_STEP +------------>+ STEP B- +------+ B- |
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| | | | | |
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| | 3V3----+ nSLEEP B+ +------+ B+ |
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| | | | +--------------+
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| | 3V3----+ nRST VM +-------------------+
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| | 3V3|GND----+ M2 GND +----------+ |
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| | 3V3|GND----+ M1 | | |
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| | 3V3|GND----+ M0 | +---+--------+-----+
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| | | | | GND +12V |
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| STEP_MOTOR_GPIO_EN +------------>+ nEN | | POWER SUPPLY |
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+---------------------------+ +--------------------+ +------------------+
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```
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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](main/stepper_motor_example_main.c).
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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 (0) cpu_start: Starting scheduler on APP CPU.
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I (325) example: Initialize EN + DIR GPIO
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I (325) gpio: GPIO[16]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
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I (335) gpio: GPIO[17]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
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I (345) example: Create RMT TX channel
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I (365) example: Set spin direction
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I (365) example: Enable step motor
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I (375) example: Create motor encoders
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I (405) example: Start RMT channel
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I (405) example: Spin motor for 6000 steps: 500 accel + 5000 uniform + 500 decel
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```
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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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