SAMDUE_PWM/examples/PWM_StepperControl/PWM_StepperControl.ino at main · khoih-prog/SAMDUE_PWM · GitHub

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/****************************************************************************************************************************
  PWM_StepperControl.ino
  For SAM_DUE boards using hardware-based PWM
  Written by Khoi Hoang

  Built by Khoi Hoang https://github.com/khoih-prog/SAMDUE_PWM
  Licensed under MIT license

  Credits of Paul van Dinther (https://github.com/dinther). Check https://github.com/khoih-prog/RP2040_PWM/issues/16
*****************************************************************************************************************************/

// Use with Stepper-Motor driver, such as TMC2209

#define _PWM_LOGLEVEL_       4

// Select false to use PWM
#define USING_TIMER       true

#include "SAMDUE_PWM.h"

// SAM_DUE:
// PWM pins: 6, 7, 8, 9
// Timer pins: 2-5, 10-13.
// pin2:   TC0_CHA0, pin3:  TC2_CHA7, pin4:  TC2_CHB6, pin5:  TC2_CHA6
// pin 10: TC2_CHB7, pin11: TC2_CHA8, pin12: TC2_CHB8, pin13: TC0_CHB0

#if USING_TIMER
  #define STEP_PIN       5
#else
  #define STEP_PIN       6
#endif

SAMDUE_PWM* stepper;

#define DIR_PIN       9

void setSpeed(int speed)
{
  if (speed == 0)
  {
    // Use DC = 0 to stop stepper
    stepper->setPWM(STEP_PIN, 500, 0);
  }
  else
  {
    //  Set the frequency of the PWM output and a duty cycle of 50%
    digitalWrite(DIR_PIN, (speed < 0));
    stepper->setPWM(STEP_PIN, abs(speed), 50);
  }
}

void setup()
{
  pinMode(DIR_PIN, OUTPUT);

  Serial.begin(115200);

  while (!Serial && millis() < 5000);

  delay(100);

  Serial.print(F("\nStarting PWM_StepperControl on "));
  Serial.println(BOARD_NAME);
  Serial.println(SAMDUE_PWM_VERSION);

  // Create PWM object and passed just a random frequency of 500
  // The duty cycle is how you turn the motor on and off
  stepper = new SAMDUE_PWM(STEP_PIN, 500, 0);
}

void loop()
{
  setSpeed(1000);
  delay(3000);

  // Stop before reversing
  setSpeed(0);
  delay(3000);

  // Reversing
  setSpeed(-500);
  delay(3000);

  // Stop before reversing
  setSpeed(0);
  delay(3000);
}