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Leadshine drive fixes and improvements for low-speed motion #830

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Leadshine drive fixes and improvements for low-speed motion #830

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0a7f3c9
Leadshine drive fixes and improvements for low-speed motion
ctacke Nov 2, 2023
1378023
remove a log message
ctacke Nov 2, 2023
7a7a78a
better resolution on > 1ms sleep
ctacke Nov 2, 2023
3c69d1c
removed debug message
ctacke Nov 2, 2023
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26 changes: 20 additions & 6 deletions Source/Meadow.Foundation.Peripherals/Motors.Stepper.Em542s/Driver/Em542s.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -95,8 +95,6 @@ private void CalculateCallDuration()
var et = Environment.TickCount - start;

_usPerCall = et * 1000 / (float)calls;

Resolver.Log.Info($"us per call: {calls} / {et} = {_usPerCall}");
}

[MethodImpl(MethodImplOptions.NoOptimization | MethodImplOptions.NoInlining)]
Expand Down Expand Up @@ -129,22 +127,38 @@ public void Step(int steps, RotationDirection direction, Frequency rate)
_enablePort.State = !InverseLogic;
}

var targetus = (int)(1000000d / rate.Hertz);
var targetus = (int)(500000d / rate.Hertz); // we divide by 2 because this is the half-wave length

if (targetus < MinimumMicrosecondDelayRequiredByDrive) throw new ArgumentOutOfRangeException(
"Rate cannot have pulses shorter than 5us. Use 200KHz or less.");
"Rate cannot have pulses shorter than 5us. Use 100KHz or less.");

var us = targetus < MinimumStartupDwellMicroseconds ? MinimumStartupDwellMicroseconds : targetus;

for (var step = 0; step < steps; step++)
{
_pulsePort.State = InverseLogic; // low means "step"

MicrosecondSleep(us);
if (us > 1000)
{
Thread.Sleep(us / 1000);
MicrosecondSleep(us % 1000);
}
else
{
MicrosecondSleep(us);
}

_pulsePort.State = !InverseLogic;

MicrosecondSleep(us);
if (us > 1000)
{
Thread.Sleep(us / 1000);
MicrosecondSleep(us % 1000);
}
else
{
MicrosecondSleep(us);
}

// DEV NOTE:
// naive linear acceleration tested only with STP-MTR-34066 motor
Expand Down
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