library - TMC26x Stepper

ArduinoAddons/Arduino_1.6.x/libraries/TMC26XStepper/README.rst

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+Arduino TMC26X Stepper Motor Controller Library
+===============================================
+
+License
+-------
+
+TMC26XStepper.cpp - - TMC 260/261/262 Stepper library for Wiring/Arduino
+ 
+based on the stepper library by Tom Igoe, et. al.
+ 
+Copyright (c) 2011, Interactive Matter, Marcus Nowotny
+ 
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+ 
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+ 
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+About
+-----
+
+The TMC26X is a stepper motor controller for bipolar stepper motors. From the trinamic web site:
+
+ The TMC262 is the first energy efficient high current high precision microstepping driver 
+ IC for bipolar stepper motors. The unique high resolution sensorless load detection stallGuard2™ 
+ is used to for the world’s first integrated load dependent current control feature called coolStep™.
+ The ability to read out the load and detect an overload makes the TMC262 an optimum choice for 
+ drives where a high reliability is desired at a low cost. The new patented spreadCycle PWM mixed 
+ decay chopper scheme ensures best zero crossing performance as well as high speed operation. 
+ The TMC262 can be driven with Step & Direction signals as well as by serial SPI™ interface. 
+ Using the microPlyer allows to operate the motor with highest 256 μStep smoothness reducing the 
+ input frequency to 16 μSteps. A full set of protection and diagnostic features makes this device 
+ very rugged. It directly drives external MOSFETs for currents of up to 6A. This way it reaches 
+ highest energy efficiency and allows driving of a high motor current without cooling measures 
+ even at high environment temperatures.
+
+
+The unique features of the TMC26X are that everything can (and must) be controlled in software:
+
+* the motor current
+* microstepping
+* stall protection
+* current reduction according to load
+* stallGuard2™ sensorless load detection
+* coolStep™ load dependent current control
+* spreadCycle hysteresis PWM chopper 
+* microPlyer 16-to-256 μStep multiplier
+* full protection and diagnostics
+
+This makes the TMC26X a bit harder to use than other stepper motors but much more versatile.
+This library resolves all the complicated stuff so that you can use TMC26X straight away.
+Furthermore, all the settings are implemented in high level interfaces so that configuring your
+motor is a breeze.
+
+How to use
+----------
+
+Check out the Setup Guide here: 
+And the How To here: