Trinamic’s StepRocker

Connect the StepRocker to USB and MPF can control any steppers connected to it.

Help us to write it

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
        mode: position
        move_current:  25              # percent
        hold_current:  5               # percent
        homing_direction: clockwise    # when facing the shaft
        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)
        reset_position: 0
        reset_events: test_reset
        named_positions:
             0.0: test_00
             0.6: test_01
             1.0: test_10