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January 16, 2008
about 5 days ago
List of Quirks I’ve found so far, after working with this for a year:…
1) While motor is running, you cannot: change acceleration, or use setPos()… If I recall, you also cannot call another goTo().
2) If you call a run direction command before the existing one has finished, It will run crazy.
3) number of steps the chip keeps track of overflows at plus and minus 221 (~2 mil).
4) You cannot setPos() to a negative number directly… You’ll have to set it to a number that overflows its 21 bit register to switch that 22nd bit to make it a negative number.
Will add more as I run into these…
The library is has a little bug in in it. AutoDriverConfig.cpp, line 34 reads
stepModeConfig |= (stepModeConfig&0x07);
This should instead be
stepModeConfig |= (stepMode&0x07);
See the simple typo?
So far it has given me microstepping. Have not yet tried to see if the automatic transition from micro to full steps works. I will report back if I find evidence of any unsolved problems.
Edit 1: Keep in mind that now, when you call goTo(steps), it uses microsteps, not full steps. (eg, 1 rev on a 200-step motor at 128 microsteps is goTo(25600);… other things, though, like maxSpeed() or run() use full steps.
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