105 lines
3.3 KiB
Python
105 lines
3.3 KiB
Python
# SPDX-FileCopyrightText: Copyright (c) 2025 Liz Clark for Adafruit Industries
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#
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# SPDX-License-Identifier: MIT
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"""
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Microstepping mode test for the Adafruit STSPIN220 stepper motor driver.
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"""
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import time
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import board
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import adafruit_stspin
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# Define the number of steps per revolution for your stepper motor
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# Most steppers are 200 steps per revolution (1.8 degrees per step)
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STEPS_PER_REVOLUTION = 200
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DIR_PIN = board.D5 # DIRection pin
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STEP_PIN = board.D6 # STEP pin
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MODE1_PIN = board.D9 # Mode 1 pin (REQUIRED for mode switching)
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MODE2_PIN = board.D10 # Mode 2 pin (REQUIRED for mode switching)
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EN_FAULT_PIN = board.D11 # Enable/Fault pin (optional)
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STBY_RESET_PIN = board.D12 # Standby/Reset pin (REQUIRED for mode switching)
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print("Initializing STSPIN220...")
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motor = adafruit_stspin.STSPIN(
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STEP_PIN,
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DIR_PIN,
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STEPS_PER_REVOLUTION,
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mode1_pin=MODE1_PIN,
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mode2_pin=MODE2_PIN,
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en_fault_pin=EN_FAULT_PIN,
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stby_reset_pin=STBY_RESET_PIN,
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)
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print("Adafruit STSPIN220 Microstepping Mode Test")
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print("=" * 50)
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# Define all available modes with their names for display
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MODES = [
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(adafruit_stspin.Modes.STEP_FULL, "Full Step"),
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(adafruit_stspin.Modes.STEP_1_2, "1/2 Step"),
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(adafruit_stspin.Modes.STEP_1_4, "1/4 Step"),
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(adafruit_stspin.Modes.STEP_1_8, "1/8 Step"),
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(adafruit_stspin.Modes.STEP_1_16, "1/16 Step"),
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(adafruit_stspin.Modes.STEP_1_32, "1/32 Step"),
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(adafruit_stspin.Modes.STEP_1_64, "1/64 Step"),
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(adafruit_stspin.Modes.STEP_1_128, "1/128 Step"),
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(adafruit_stspin.Modes.STEP_1_256, "1/256 Step"),
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]
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BASE_RPM = 60 # Base speed for full step mode
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while True:
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for mode, mode_name in MODES:
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print(f"\nTesting {mode_name} mode...")
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try:
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# Set the microstepping mode
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motor.step_mode = mode
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# Get the number of microsteps for this mode
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microsteps = motor.microsteps_per_step
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motor.speed = BASE_RPM
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# Calculate total steps needed for one full revolution
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total_steps = STEPS_PER_REVOLUTION * microsteps
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print(f" Speed: {motor.speed} RPM")
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print(f" Microsteps per full step: {microsteps}")
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print(f" Steps for full revolution: {total_steps}")
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# Check for any faults before moving
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if motor.fault:
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print(" WARNING: Fault detected! Clearing...")
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motor.clear_fault()
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time.sleep(0.1)
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# Perform one full revolution forward
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print(f" Rotating forward 360°...")
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start_time = time.monotonic()
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motor.step(total_steps)
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rotation_time = time.monotonic() - start_time
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print(f" Rotation completed in {rotation_time:.2f} seconds")
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# Brief pause to see the position
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time.sleep(0.5)
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# Return to starting position
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print(f" Returning to start position...")
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motor.step(-total_steps)
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print(f" {mode_name} test complete!")
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except ValueError as e:
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print(f" ERROR: Could not set {mode_name} mode - {e}")
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print(" Make sure MODE1, MODE2, and STBY/RESET pins are connected!")
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# Pause between modes
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time.sleep(1.0)
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print("\n" + "=" * 50)
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print("All modes tested! Starting next cycle in 3 seconds...")
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print("=" * 50)
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time.sleep(3.0)
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