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HomeSpan/docs/StepperDrivers/Stepper_A3967.md

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Stepper_A3967

This is a derived class of StepperControl designed to operate stepper motors driven by a Toshiba TB6612 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.

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):

Power Connections

  • VCC - connect to +3.3V on ESP32
  • VM - connect to external DC power supply that will drive stepper motor (5-13V)
  • GND (and PGND1/PGND2) - connect to GND on the ESP32, and to ground of external DC power supply

Motor Connections

  • AO1, AO2 - connect to the "A" coil of the stepper motor
  • BO1, BO2 - connect to the "B" coil of the stepper motor

Control Connections

  • AIN1, AIN2 - connect to two digital pins on the ESP32 - will control direction and state of coil A
  • BIN1, BIN2 - connect to two digital pins on the ESP32 - will control direction and state of coil B
  • PWMA, PWMB - if using PWM, connect to two digital pins on the ESP32; if not, connect to +3.3V on ESP32 to pull high
  • STBY - connect to +3.3V on ESP32 to pull high

The Stepper_A3967 class includes two constructors:

  • Stepper_TB6612(int AIN1, int AIN2, int BIN1, int BIN2 [,{uint32_t priority, uint32_t cpu}] )

    • 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:

      • FULL_STEP_ONE_PHASE
      • FULL_STEP_TWO_PHASE
      • HALF_STEP

  • Stepper_TB6612(int AIN1, int AIN2, int BIN1, int BIN2, int PWMA, int PWMB, [,{uint32_t priority, uint32_t cpu}])

    • 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:

      • FULL_STEP_ONE_PHASE
      • FULL_STEP_TWO_PHASE
      • HALF_STEP
      • QUARTER_STEP
      • EIGHTH_STEP

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}.

↩️ Back to the Stepper Motor Control page