PWM_StepperControl.ino

/****************************************************************************************************************************
  PWM_StepperControl.ino
  For RP2040 boards
  Written by Khoi Hoang

  Built by Khoi Hoang https://github.com/khoih-prog/MBED_RP2040_PWM
  Licensed under MIT license

  Credits of Paul van Dinther (https://github.com/dinther). Check https://github.com/khoih-prog/RP2040_PWM/issues/16
*****************************************************************************************************************************/

// Use with Stepper-Motor driver, such as TMC2209

#if !( defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_RASPBERRY_PI_PICO) || defined(ARDUINO_ADAFRUIT_FEATHER_RP2040) || \
      defined(ARDUINO_GENERIC_RP2040) ) && defined(ARDUINO_ARCH_MBED)
  #error This code is intended to run on the MBED RP2040 platform! Please check your Tools->Board setting.
#endif

#define _PWM_LOGLEVEL_        1

#include <MBED_RP2040_PWM.h>

mbed::PwmOut* stepper = nullptr;

#define STEP_PIN      8
#define DIR_PIN       9

void setSpeed(int speed)
{
  if (speed == 0)
  {
    // Use DC = 0 to stop stepper
    setPWM(stepper, STEP_PIN, 500, 0);
  }
  else
  {
    //  Set the frequency of the PWM output and a duty cycle of 50%
    digitalWrite(DIR_PIN, (speed < 0));
    setPWM(stepper, STEP_PIN, abs(speed), 50);
  }
}

void setup() 
{
  pinMode(DIR_PIN, OUTPUT);
  
  Serial.begin(115200);

  while (!Serial && millis() < 5000);

  delay(100);

  Serial.print(F("\nStarting PWM_StepperControl on "));
  Serial.println(BOARD_NAME);
  Serial.println(MBED_RP2040_PWM_VERSION);
  
  //setSpeed(0);
}

void loop() 
{
  setSpeed(1000);
  delay(3000);

  // Stop before reversing
  setSpeed(0);
  delay(3000);

  // Reversing
  setSpeed(-500);
  delay(3000);

  // Stop before reversing
  setSpeed(0);
  delay(3000);
}