如何解决TMC2208 步进驱动器更换与 A4988 故障
我正在使用here Arduino CNC 板的一个版本来驱动小型轮式机器人上的4 个轮子。防护罩带有 A4988 步进驱动器，我让它们正常工作，但是电机的声音比预期的要大得多，所以我去寻找另一个驱动器并找到了 TMC2208。我看到只要电路板本身与屏蔽上的启用引脚对齐，引脚输出就相同。 然而，问题似乎出在代码中。我在我的代码中使用了 Accelstepper 库，并且在 A4988 驱动板上一切正常。当我只交换电路板时，我的程序中什么也没发生。我去查看 TMCStepper 库 git 以尝试寻找一些帮助。我设法至少使用“简单”示例的版本让步进器工作。我尝试尽可能多地取出，同时仍然能够移动电机，以便我可以在我的实际程序中使用它。我仍然没有任何运气。 当我运行这个程序
#include <TMCStepper.h>
#define EN_PIN 8 // Enable
#define DIR_PIN1 5 // Direction
#define STEP_PIN1 2 // Step
#define DIR_PIN2 6 // Direction
#define STEP_PIN2 3
#define DIR_PIN3 7 // Direction
#define STEP_PIN3 4
#define DIR_PIN4 13 // Direction
#define STEP_PIN4 12
#define SW_RX1 55 // TMC2208/TMC2224 SoftwareSerial receive pin
#define SW_TX1 60 // TMC2208/TMC2224 SoftwareSerial transmit pin
#define SW_RX2 56 // TMC2208/TMC2224 SoftwareSerial receive pin
#define SW_TX2 61
#define SW_RX3 57 // TMC2208/TMC2224 SoftwareSerial receive pin
#define SW_TX3 62
#define SW_RX4 58 // TMC2208/TMC2224 SoftwareSerial receive pin
#define SW_TX4 63
#define R_SENSE 0.11f // Match to your driver
TMC2208Stepper driverX(SW_RX1,SW_TX1,R_SENSE);
TMC2208Stepper driverY(SW_RX1,R_SENSE);
TMC2208Stepper driverZ(SW_RX1,R_SENSE);
TMC2208Stepper driverA(SW_RX1,R_SENSE); // Software serial
void setup() {
pinMode(EN_PIN,OUTPUT);
pinMode(STEP_PIN1,OUTPUT);
pinMode(DIR_PIN1,OUTPUT);
pinMode(STEP_PIN2,OUTPUT);
pinMode(DIR_PIN2,OUTPUT);
pinMode(STEP_PIN3,OUTPUT);
pinMode(DIR_PIN3,OUTPUT);
pinMode(STEP_PIN4,OUTPUT);
pinMode(DIR_PIN4,OUTPUT);
digitalWrite(EN_PIN,LOW); // Enable driver in hardware
driverX.begin();
driverY.begin();
driverZ.begin();
driverA.begin(); // SPI: Init CS pins and possible SW SPI pins
// UART: Init SW UART (if selected) with default 115200 baudrate
driverX.microsteps(16); // Set microsteps to 1/16th
}
void loop() {
// Run 5000 steps and switch direction in software
for (uint16_t i = 5; i>0; i++) {
digitalWrite(STEP_PIN1,HIGH);
digitalWrite(STEP_PIN2,HIGH);
digitalWrite(STEP_PIN3,HIGH);
digitalWrite(STEP_PIN4,HIGH);
delayMicroseconds(160);
digitalWrite(STEP_PIN1,LOW);
digitalWrite(STEP_PIN2,LOW);
digitalWrite(STEP_PIN3,LOW);
digitalWrite(STEP_PIN4,LOW);
delayMicroseconds(160);
}
电机一直在旋转，所以我知道驱动器确实在工作。 我的主要代码如下。
#include <AccelStepper.h>
#include <TMCStepper.h>
const int stepperCount = 4;
AccelStepper BLStepper(AccelStepper::DRIVER,2,5);
AccelStepper FLStepper(AccelStepper::DRIVER,3,6);
AccelStepper FRStepper(AccelStepper::DRIVER,4,7);
AccelStepper BRStepper(AccelStepper::DRIVER,12,13);
#define R_SENSE 0.11f
// define pins numbers
#define stepX_PIN 2
#define dirX_PIN 5
#define stepX_RX 55
#define dirX_TX 60
#define stepY_PIN 3
#define dirY_PIN 6
#define stepY_RX 56
#define dirY_TX 61
#define stepZ_PIN 4
#define dirZ_PIN 7
#define stepZ_RX 57
#define dirZ_TX 62
#define stepA_PIN 12
#define dirA_PIN 13
#define stepA_RX 58
#define dirA_TX 63
#define enPin_PIN 8
TMC2208Stepper driverX(stepX_RX,dirX_TX,R_SENSE);
TMC2208Stepper driverY(stepY_RX,dirY_TX,R_SENSE);
TMC2208Stepper driverZ(stepZ_RX,dirZ_TX,R_SENSE);
TMC2208Stepper driverA(stepA_RX,dirA_TX,R_SENSE);
//Front left wheel
//const int stepX_PIN = 2;
//const int dirX_PIN = 5;
//Front right wheel
//const int stepY_PIN = 3;
//const int dirY_PIN = 6;
//Back left wheel
//const int stepZ_PIN = 4;
//const int dirZ_PIN = 7;
//Back right wheel
//const int stepA_PIN = 12;
//const int dirA_PIN = 13;
//const int enPin_PIN = 8;
char split = ':'; //this is the character that would be used for seperating the different parts of your commands
//the Syntax for commands would be: command:value1:value2
int listSize = 5; //the amount of commands in the list
String commands[] = {"hello","add","sub","YMOV","XMOV"}; //the list of every command name
void setup()
{
Serial.begin(115200); //sets the data transfer rate for the serial interface
//9600 is good for basic testing,but should be as high
//as possible for both devices
FRStepper.setMaxSpeed(300);
FRStepper.setacceleration(200);
BRStepper.setMaxSpeed(300);
BRStepper.setacceleration(200);
FLStepper.setMaxSpeed(300);
FLStepper.setacceleration(200);
BLStepper.setMaxSpeed(300);
BLStepper.setacceleration(200);
pinMode(stepX_PIN,OUTPUT);
pinMode(dirX_PIN,OUTPUT);
pinMode(stepY_PIN,OUTPUT);
pinMode(dirY_PIN,OUTPUT);
pinMode(stepZ_PIN,OUTPUT);
pinMode(dirZ_PIN,OUTPUT);
pinMode(stepA_PIN,OUTPUT);
pinMode(dirA_PIN,OUTPUT);
pinMode(enPin_PIN,OUTPUT);
digitalWrite(enPin_PIN,LOW);
digitalWrite(dirX_PIN,HIGH);
digitalWrite(dirY_PIN,HIGH);
digitalWrite(dirZ_PIN,HIGH);
digitalWrite(dirA_PIN,HIGH);
//digitalWrite(stepX_PIN,HIGH);
//digitalWrite(stepY_PIN,HIGH);
//digitalWrite(stepZ_PIN,HIGH);
//digitalWrite(stepA_PIN,HIGH);
driverX.begin();
driverY.begin();
driverZ.begin();
driverA.begin();
FRStepper.setEnablePin(enPin_PIN);
FLStepper.setEnablePin(enPin_PIN);
BRStepper.setEnablePin(enPin_PIN);
BLStepper.setEnablePin(enPin_PIN);
FRStepper.enableOutputs();
FLStepper.enableOutputs();
BRStepper.enableOutputs();
BLStepper.enableOutputs();
}
void loop()
{
CommCheck(); //checks serial buffer for data commands
runMotors();
}
void runMotors()
{
if ((FLStepper.distancetoGo() != 0) || (FRStepper.distancetoGo() != 0) || (BLStepper.distancetoGo() != 0) || (BRStepper.distancetoGo() != 0))
{
FRStepper.enableOutputs();
FLStepper.enableOutputs();
BRStepper.enableOutputs();
BLStepper.enableOutputs();
FLStepper.run();
BLStepper.run();
FRStepper.run();
BRStepper.run();
if ((FLStepper.distancetoGo() == 0) && (FRStepper.distancetoGo() == 0))
{
CommConfirm();
}
}
//if (movementComplete == true)
//{
//CommConfirm();
//}
//if (
//if ((FLStepper.distancetoGo() == 0) || (FRStepper.distancetoGo() == 0) || (BLStepper.distancetoGo() == 0) || (BRStepper.distancetoGo() == 0))
//{
//CommConfirm();
//}
}
void CommCheck()
{
if(Serial.available()) //checks to see if there is serial data has been received
{
//int len = Serial.available(); //stores the character lengh of the command that was sent
//this is used for command parsing later on
String command = Serial.readString(); //stores the command as a text string
int len = command.length();
//Serial.println(command);
Serial.flush();
//command.remove(len-2,1); //removes characters added by the pi's serial data protocol
//command.remove(0,2);
//len -= 3; //updates the string length value for parsing routine
int points[2] = {0,0}; //offset points for where we need to split the command into its individual parts
for(int x = 0; x < len; x++) //this loop will go through the entire command to find the split points based on
{ //what the split variable declared at the top of the script is set to.
//Serial.print("Char ");
//Serial.print(x);
//Serial.print("- ");
//Serial.println(command[x]);
if(command[x] == split) //this goes through every character in the string and compares it to the split character
{
if(points[0] == 0) //if the first split point hasn't been found,set it to the current spot
{
points[0] = x;
}
else //if the first spot was already found,then set the second split point
{ //this routine is currently only set up for a command Syntax that is as follows
points[1] = x; //command:datavalue1:datavalue2
}
}
}
CommParse(command,len,points[0],points[1]); //Now that we kNow the command,command length,and split points,} //we can then send that information out to a routine to split the data
} //into individual values.
void CommParse(String command,int len,int point1,int point2)
{
//Serial.print("Command Length: ");
//Serial.println(len);
//Serial.print("Split 1: ");
//Serial.println(point1);
//Serial.print("Split 2: ");
//Serial.println(point2);
String com = command; //copy the full command into all 3 parts
String val1 = command; //this is needed for the string manipulation
String val2 = command; //that follow
com.remove(point1,len - point1); //each of these use the string remove to delete
val1.remove(point2,len - point2); //the parts of the command that aren't needed
val1.remove(0,point1 + 1); //basically splitting the command up into its
val2.remove(0,point2 + 1); //individual pieces
val2.remove(val2.length()-1,1);
CommLookup(com,val1,val2); //these pieces are then sent to a lookup routine for processing
}
void CommLookup(String com,String val1,String val2)
{
int offset = 255; //create a variable for our lookup table's offest value
//we set this to 255 because there won't be 255 total commands
//and a valid command can be offset 0,so it's just to avoid
//any possible coding conflicts if the command sent doesn't
//match anything.
for(int x = 0; x < listSize; x++) //this goes through the list of commands and compares
{ //them against the command received
if(commands[x] == com)
{
offset = x; //if the command matches one in the table,store that command's offset
}
}
switch(offset) //this code compares the offset value and triggers the appropriate command
{
case 0: //essentially a hello world. | Syntax: hello:null:null
CommHello(); //this activates the hello world subroutine | returns Hello!
break;
case 1: //adds both values together and return the sum. | Syntax: add:value1:value2
CommAdd(val1.toInt(),val2.toInt()); //this activates the addition subroutine | returns value1 + value2
break;
case 2: //subtracts both values and return the difference | Syntax: subtract:value1:value2
CommSub(val1.toInt(),val2.toInt()); //this activates the subtraction subroutine | returns value1 - value2
break;
case 3:
yMovement(val1.toInt(),val2.toInt());
break;
case 4:
xMovement(val1.toInt(),val2.toInt());
default: //this is the default case for the command lookup and will only
Serial.println("Command not recognized"); //trigger if the command sent was not kNown by the arduino
break;
}
}
void CommHello() //each of these routines are what will be triggered when they are successfully processed
{
Serial.println("Hello!");
CommConfirm();
}
void CommAdd(int val1,int val2)
{
Serial.println(val1 + val2);
CommConfirm();
}
void CommSub(int val1,int val2)
{
Serial.println(val1 - val2);
CommConfirm();
}
void yMovement(int val1,int val2)
{
if (val1 < 0) {
//Serial.println("YMOVNEG");
int yMoveNew = (val1 * (-20.72));
//Serial.println(val1 * (-1));
//delay(500);
FRStepper.move(-yMoveNew);
BRStepper.move(-yMoveNew);
FLStepper.move(-yMoveNew);
BLStepper.move(-yMoveNew);
}
else {
//Serial.println(val1);
int yMoveNew = (val1 * (20.72));
//Serial.println(yMoveNew);
//Serial.println(val1);
//delay(500);
FRStepper.move(yMoveNew);
BRStepper.move(yMoveNew);
FLStepper.move(yMoveNew);
BLStepper.move(yMoveNew);
}
}
void xMovement(int val1,int val2)
{
if (val1 < 0) {
//Serial.println(val1);
int xMoveNew = (val1 * (-20.72));
//Serial.println(xMoveNew);
//Serial.println(val1 * (-1));
//delay(1000);
FLStepper.move(-xMoveNew);
BLStepper.move(xMoveNew);
FRStepper.move(xMoveNew);
BRStepper.move(-xMoveNew);
//delayMicroseconds(500);
}
else {
int xMoveNew = (val1 * (20.72));
//Serial.println(val1);
//delay(1000);
FLStepper.move(xMoveNew);
BLStepper.move(xMoveNew);
FRStepper.move(xMoveNew);
BRStepper.move(xMoveNew);
//delayMicroseconds(500);
}
}
void CommConfirm()
{
Serial.println("Done");
delay(750);
}
当我运行我的代码时，Pi 会发送两个等于步数的值，但是使用新驱动程序时什么也没有发生。我还尝试查看并遵循 git 上的 AccelStepper 示例，但我想我有问题。 任何帮助将不胜感激。
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