TMCStepper
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How to switch off stealthChop mode in library for TMC2209?
trafficstars
Please help me to find way to switch off stealthChop mode for TMC2209.
Driver working in UART mode.
My code initialization part:
TMCdriver->begin(); // UART: Init SW UART (if selected) with default 115200 baudrate
TMCdriver->toff(5); // off time and driver enable
TMCdriver->rms_current(_params.CURRENT_); // Set motor RMS current
TMCdriver->microsteps(_params.MICROSTEP_); // Set microsteps
TMCdriver->shaft(false); // SET DIRECTION
TMCdriver->en_spreadCycle(false); // SpreadCycle™ - highly dynamic motor control chopper
TMCdriver->pwm_autoscale(true); // two modes of PWM regulation, Needed for stealthChop
struct driverParams {
uint8_t EN_PIN_ = 40;
uint8_t DRIVER_ADDRESS_ = 0b00;
float R_SENSE_ = 0.11; // The current sense resistor
int CURRENT_ = 2000;
uint8_t MICROSTEP_ = 2; // 1/2, 1/4, 1/8, 1/16 - going up - less torque power, more precision
float MAX_RPS_ = 4;
float STEP_RPS_ = 0.05;
int STEP_PAUSE_ = 100;
};