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This is an early prototype for driving multiple stepper motors with acceleration ramps from a BeagleBone using the PRU for real time control. End goal is to control a delta 3d printer. Development by Stefan Langemark and Håkan Langemark. (Mostly Stefan so far...) This code generates step pulses near 50% duty cycle to avoid problems with too short pulses on e.g the drv8825 chip. Demonstration on youtube: http://youtu.be/YlDHBbKrRtU Acceleration ramp maths based on Atmel's AVR446 application note. Instructions: The code depends on PyPRUSS by Elias Bakken (https://bitbucket.org/intelligentagent/pypruss). Install and make sure you can run the examples. You need to configure the pin as an output using a device tree overlay. I followed this example: http://hipstercircuits.com/beaglebone-black-gpio-mux-for-pru-with-device-tree-overlay/ Connect two steppers according to this table: Pin Signal P8_17 STEP_X P8_16 DIR_X P8_15 STEP_Y P8_14 DIR_Y Usage: python stepper.py Roadmap: - Add support for both directions - Done - Implement mult-axis functionality - Done ... - Add support for delta printers (hopefully by replacing linear bresenham with delta dda) - Parse g-code - Add remaining functionality for 3d-printer (heat, fans, endstops, etc) Or - Integrate with Replicape
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Driving stepper motors from the BeagleBone Black
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