diff --git a/code/cane_control/cane_control.ino b/code/cane_control/cane_control.ino index 8215a49421851085cf596190b52e0486a82a2c71..a4f312bc8117ce8655b33d183549198576c18577 100644 --- a/code/cane_control/cane_control.ino +++ b/code/cane_control/cane_control.ino @@ -28,6 +28,8 @@ #define MOVE_SPEED 800 #define MOVE_ACC 1200 +#define MICROSTEPS 4 + HardwareSerial & serial_stream = Serial1; Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET); @@ -109,13 +111,13 @@ void setup() { stepper_driver1.setup(serial_stream, SERIAL_BAUD_RATE, TMC2209::SERIAL_ADDRESS_1); stepper_driver1.setRunCurrent(RUN_CURRENT_PERCENT); - stepper_driver1.setMicrostepsPerStep(4); + stepper_driver1.setMicrostepsPerStep(MICROSTEPS); delay(50); stepper_driver2.setup(serial_stream, SERIAL_BAUD_RATE, TMC2209::SERIAL_ADDRESS_0); stepper_driver2.setRunCurrent(RUN_CURRENT_PERCENT); - stepper_driver2.setMicrostepsPerStep(4); + stepper_driver2.setMicrostepsPerStep(MICROSTEPS); stepper_driver2.enable(); delay(50);