45 lines
2.6 KiB
Markdown
45 lines
2.6 KiB
Markdown
# Stepper_A3967
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TO BE EDITED
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This is a derived class of **StepperControl** designed to operate stepper motors driven by a [Toshiba TB6612](https://www.adafruit.com/product/2448) chip, either with or without the use of ESP32 PWM pins. To use, add `#include "extras/Stepper_TB6612.h"` to the top of your sketch.
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The Toshiba TB6612 is a generic motor driver providing direct control of two full H-bridges. Wiring is as follows (using Toshiba's names for each pin):
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#### **Power Connections**
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* *VCC* - connect to +3.3V on ESP32
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* *VM* - connect to external DC power supply that will drive stepper motor (5-13V)
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* *GND* (and *PGND1/PGND2*) - connect to GND on the ESP32, and to ground of external DC power supply
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#### **Motor Connections**
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* *AO1, AO2* - connect to the "A" coil of the stepper motor
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* *BO1, BO2* - connect to the "B" coil of the stepper motor
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#### **Control Connections**
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* *AIN1, AIN2* - connect to two digital pins on the ESP32 - will control direction and state of coil *A*
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* *BIN1, BIN2* - connect to two digital pins on the ESP32 - will control direction and state of coil *B*
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* *PWMA, PWMB* - if using PWM, connect to two digital pins on the ESP32; if not, connect to +3.3V on ESP32 to pull high
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* *STBY* - connect to +3.3V on ESP32 to pull high
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The **Stepper_A3967** class includes two constructors:
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* `Stepper_TB6612(int AIN1, int AIN2, int BIN1, int BIN2 [,{uint32_t priority, uint32_t cpu}] )`
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* controls the driver board using only 4 digital pins from the ESP32, where the parameters specify the pin numbers. Supports the following step type modes:
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* FULL_STEP_ONE_PHASE
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* FULL_STEP_TWO_PHASE
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* HALF_STEP
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* `Stepper_TB6612(int AIN1, int AIN2, int BIN1, int BIN2, int PWMA, int PWMB, [,{uint32_t priority, uint32_t cpu}])`
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* controls the driver board using 4 digital pins and 2 PWM pins from the ESP32, where the parameters specify the pin numbers. Supports the following step type modes:
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* FULL_STEP_ONE_PHASE
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* FULL_STEP_TWO_PHASE
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* HALF_STEP
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* QUARTER_STEP
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* EIGHTH_STEP
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Both constructors support an *optional* final parameter consisting of a *brace-enclosed* pair of numbers. The first number in the braces specifies the *priority* of the background task used to control the stepper motor. The second number in the braces specifies the CPU (0 or 1) that **Stepper_A3967** will use to run the background control task (this number is ignored for single-processor chips). The default (and recommended) value of this optional final parameter is {1,0}.
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---
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[↩️](../Stepper.md) Back to the Stepper Motor Control page
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