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va3wam / TWIPe

This repository contains the embedded code used for the TWIPe robot
MIT License
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Stepper motor control #12

Closed va3wam closed 4 years ago

va3wam commented 4 years ago

Need to conduct these tests to refine stepper motor control:

  1. The stepper motors ENA pins affect motor torque. They should be set as infrequently as is reasonable. The plan is to confirm that they do enable and disable motor hold.
  2. Only set the ENA pins when absolutely necessary and not on every loop.
  3. motors can arbitrarily change direction. Sometime they spin the same way, sometimes they spin in different directions from each other. I can make the motors miss steps which seems to cause this though not constantly. Test program using ~167Hz PWM which I believe is that the high end of the RPMs that these motors can handle and the torque does not feel strong. I believe torque improved when things slow down. More testing required.
va3wam commented 4 years ago

This issue has been resolved