From e3f4b58acfb48fb2c1498bcb8d4c7460ca760379 Mon Sep 17 00:00:00 2001
From: Quentin Bolsee <quentin.bolsee@cba.mit.edu>
Date: Wed, 28 May 2025 14:48:18 -0400
Subject: [PATCH] Edit cane_control.ino
---
code/cane_control/cane_control.ino | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/code/cane_control/cane_control.ino b/code/cane_control/cane_control.ino
index 8215a49..a4f312b 100644
--- a/code/cane_control/cane_control.ino
+++ b/code/cane_control/cane_control.ino
@@ -28,6 +28,8 @@
#define MOVE_SPEED 800
#define MOVE_ACC 1200
+#define MICROSTEPS 4
+
HardwareSerial & serial_stream = Serial1;
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
@@ -109,13 +111,13 @@ void setup() {
stepper_driver1.setup(serial_stream, SERIAL_BAUD_RATE, TMC2209::SERIAL_ADDRESS_1);
stepper_driver1.setRunCurrent(RUN_CURRENT_PERCENT);
- stepper_driver1.setMicrostepsPerStep(4);
+ stepper_driver1.setMicrostepsPerStep(MICROSTEPS);
delay(50);
stepper_driver2.setup(serial_stream, SERIAL_BAUD_RATE, TMC2209::SERIAL_ADDRESS_0);
stepper_driver2.setRunCurrent(RUN_CURRENT_PERCENT);
- stepper_driver2.setMicrostepsPerStep(4);
+ stepper_driver2.setMicrostepsPerStep(MICROSTEPS);
stepper_driver2.enable();
delay(50);
--
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