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Thread: New Stepper Motor Library

  1. #1
    Senior Member
    Join Date
    Apr 2014

    New Stepper Motor Library

    Since I didn't find a stepper motor library meeting my needs I rolled my own and finally published it
    on gitHub You'll find a detailed description there.

    Here the key specification of the library

    Motor speed / pulse rate 1 - 300'000 stp/s
    Acceleration 0 - 500'000 stp/s^2
    Pull in speed (speed up to which no acceleration is required) 50-10'000 stp/s
    Synchronous movement of motors up to 10
    Asynchronous movement of motors 4 groups of 1 to 10 motors
    Settable step pulse polarity Active high or low
    Settable step pulse width 1-100Ás
    Settable direction signal polarity cw/ccw

    The library is compatible to T3.0 T3.1 T3.2, T3.5 and T3.6. As always, it's amazing what can be done
    with those boards. Handling 3 synchronously running motors at a pulse rate of 50kHz-including
    Bresenham and acceleration calculations- generates a load of only 6.5% for a T3.6 (@240MHz)
    and about 17% for a T3.2 (@96MHz). The generated load is linear in motor speed, i.e. half the step rate
    generates half the load.

    The picture below shows some additional performance information.

    Click image for larger version. 

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    Hope the library is of use for somebody. As always: any feedback welcome
    Have fun

  2. #2
    Senior Member
    Join Date
    Apr 2014
    Just fixed a strange compatibility issue with GCC 5.4 / Teensyduino 1.36. (Thanks to Per Magnusson for that). TeensyStep should work now with all recent versions of Teensyduino.

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