Warning

This is the dev documentation for an unreleased version of MPF!

This is the documentation for MPF 0.54+, which is the “dev” (next) release of MPF that is a work-in-progress. Unless you’re specifically looking for this version, you probably want to use the version of documentation called “latest” which is for the latest released version of MPF. That documentation is at docs.missionpinball.org/en/latest.

trinamics_steprocker (example config files)

Machine config examples

Here are some example machine-wide config files that show real-world examples of how these configs are used.

#config_version=5

hardware:
  platform: virtual
  driverboards: virtual
  stepper_controllers: trinamics_steprocker

trinamics_steprocker:
  port: /dev/ttyACM0

steppers:
    #Scenario: 1.8 stepper that spins something continuously when activated; that you want to control in units of degrees
    #TODO: Add limit switches
#    velocityStepper:
#        number: 0
#        mode: velocity
#        move_current:  25 #percent
#        hold_current:  5 #percent
#        microstep_per_fullstep: 16 # 1/16 mode (1 step = 1/16 of a full step)
#        fullstep_per_userunit: 0.55 # UU = 1 Degree =  1 / 1.8 Degrees per Fullstep
#        velocity_limit: 360 #user units/sec   (so, 360 degrees per Sec)
#        acceleration_limit: 720 #user units/sec^2  (so, 720 degrees per Sec^2)


    # Scenario: 1.8 degree stepper attached to a 7:1 gear ratio with homing flag that you want to control in units of revolutions
    positionStepper:
        number: 0
        reset_position: 0
        reset_events: test_reset
        homing_direction: clockwise #when facing the shaft
        homing_mode: hardware
        named_positions:
             0.0: test_00
             0.6: test_01
             1.0: test_10
        platform_settings:
             move_current:  25 #percent
             hold_current:  5 #percent
             homing_speed: 0.1 #user units/sec
             microstep_per_fullstep: 16 # 1/16 mode (1 step = 1/16 of a full step)
             fullstep_per_userunit: 1400 # UU=1 Revolution = 200 full steps per rev (1.8 deg stepper) * 7 gear ratio
             velocity_limit: 0.5 #user units/sec   (so, 0.8 RPS of output gear )
             acceleration_limit: 2.0 #user units/sec^2  (so, 2 RPS^S of output gear)