![]() This updates the minimal supported version of CMake to 3.16, which in turn enables us to use more CMake features and have a cleaner build system. This is the version that provides most new features and also the one we use in our latest docker image for CI. |
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main | ||
CMakeLists.txt | ||
README.md | ||
pytest_stepper_motor.py |
README.md
Supported Targets | ESP32-S3 |
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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 phaseuniform_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.