RP2040_PWM_StepperControl.ino

/****************************************************************************************************************************
  RP2040_PWM_StepperControl.ino
  For RP2040 boards
  Written by Khoi Hoang

  Built by Khoi Hoang https://github.com/khoih-prog/ContinuousStepper_Generic
  Licensed under MIT license

  The RP2040 PWM block has 8 identical slices. Each slice can drive two PWM output signals, or measure the frequency
  or duty cycle of an input signal. This gives a total of up to 16 controllable PWM outputs. All 30 GPIO pins can be driven
  by the PWM block

  Credits of Paul van Dinther (https://github.com/dinther). Check https://github.com/khoih-prog/RP2040_PWM/issues/16
*****************************************************************************************************************************/

// Use with Stepper-Motor driver, such as TMC2209

#define _PWM_LOGLEVEL_        1

#if ( defined(ARDUINO_ARCH_RP2040) || defined(ARDUINO_RASPBERRY_PI_PICO) || defined(ARDUINO_ADAFRUIT_FEATHER_RP2040) || \
        defined(ARDUINO_GENERIC_RP2040) ) && !defined(ARDUINO_ARCH_MBED)

  #if(_PWM_LOGLEVEL_>3)
    #warning USING_RP2040_PWM
  #endif
#else
  #error This code is intended to run on the RP2040 arduino-pico platform! Please check your Tools->Board setting.
#endif

#include "ContinuousStepper_Generic.h"

RP2040_PWM* stepper;

#define STEP_PIN      8
#define DIR_PIN       9

// The Stepper RPM will be ( speed * 60 ) / steps-per-rev
// For example, 28BYJ-48 Stepper Motor (https://lastminuteengineers.com/28byj48-stepper-motor-arduino-tutorial/) has 32 Steps/Rev
// Speed = 640 Hz => Stepper RPM = (640 * 60 / 32) = 1200 RPM
void setSpeed(int speed)
{
  if (speed == 0)
  {
    // Use DC = 0 to stop stepper
    stepper->setPWM(STEP_PIN, 500, 0);
  }
  else
  {
    //  Set the frequency of the PWM output and a duty cycle of 50%
    digitalWrite(DIR_PIN, (speed < 0));
    stepper->setPWM(STEP_PIN, abs(speed), 50);
  }
}

void setup() 
{
  pinMode(DIR_PIN, OUTPUT);
  
  Serial.begin(115200);

  while (!Serial && millis() < 5000);

  delay(100);

  Serial.print(F("\nStarting RP2040_PWM_StepperControl on "));
  Serial.println(BOARD_NAME);
  Serial.println(RP2040_PWM_VERSION);
  Serial.println(CONTINUOUS_STEPPER_GENERIC_VERSION);
  
  //  Create PWM object and passed just a random frequency of 500 in it
  //  The duty cycle is how you turn the motor on and off
  stepper = new RP2040_PWM(STEP_PIN, 500, 0);
}

void loop() 
{
  // The Stepper RPM will be ( speed * 60 ) / steps-per-rev
  setSpeed(1000);
  delay(3000);

  // Stop before reversing
  setSpeed(0);
  delay(3000);

  // Reversing
  setSpeed(-500);
  delay(3000);

  // Stop before reversing
  setSpeed(0);
  delay(3000);
}