Trinamic’s StepRocker

Related Config File Sections
hardware:
trinamics_steprocker:
steppers:

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

This is an example:

hardware:
  platform: virtual
  driverboards: virtual
  stepper_controllers: trinamics_steprocker

trinamics_steprocker:
  port: /dev/ttyACM0

steppers:
    # 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
        homing_direction: clockwise    # when facing the shaft
        homing_mode: hardware
        reset_position: 0
        reset_events: test_reset
        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)

This example is tested to be valid MPF config. However, it is not integration tested.

hardware:
  platform: virtual
  driverboards: virtual
  stepper_controllers: trinamics_steprocker

trinamics_steprocker:
  port: /dev/ttyACM0

steppers:
    # 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
        homing_direction: clockwise    # when facing the shaft
        homing_mode: hardware
        reset_position: 0
        reset_events: test_reset
        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)