Wiring

APPS

5V input/output. Use a voltage divider/other approach to condition the analogue output to a range that can be read by ESP32

TPS

Nema 23 Stepper motor

https://www.motechmotor.com/productDetail-0105-81.html

step angle $1.8\degree$

TMC5160 driver board

datasheet: TMC5160 Datasheet (long))

Description: TMC5160 BOB Description

Install this library developed by tommag. both TMC5160.h and Bitfield.h are included

https://github.com/tommag/TMC5160_Arduino

Motor torque

Adjust motor torque by writing to these registers (in setup, after SPI communication and motor has been initialised):

  motor.writeRegister(TMC5160_Reg::GLOBAL_SCALER, 200); //32-255
  motor.writeRegister(TMC5160_Reg::IHOLD_IRUN, 0x00011F14);

The complete list of register can be found in /TMC5160_registers.h

The IHOLD_IRUN register format:

• Bits 0-4: ihold (in this case hex(14) = dec(20))(0-31) (set to <= 70% of irun)
• Bits 8-12: irun (0-31)
• Bits 16-19: iholddelay

! For some reasons changing motorParams didn't work for me. had to write to register for the change to stick

Resources

• PID Controller in C
• ESP32 Arduino IDE Timer Interrupts Reference