Based on https://github.com/knurling-rs/app-template

Run

To execute binary file: cargo rrb {bin file name}, for example: cargo rrb several_motors. To execute main file: cargo rmain. To set logging level change ./build.rs

For more information take a look at aliases at .cargo/config.toml

TMC2209

Good Vref calculator: https://wiki.fysetc.com/TMC2208/#motor-current-setting For my steppers (1.7A for phase) Vref should be 1.6970562748477143, but I set it to 1.9, cause my friend told me that active cooling required above Vref=1.4

PS3 controller bluetooth connection

To connect PS3 controller to HC-05 you need to set master address. To do that:

• install SixAxisPairTool (for mac get it from here)
• connect PS3 to PC
• set master address