Remove initialize public method

README.org

@@ -4,7 +4,7 @@
 
 * Library Information
 - Name :: TMC429
-- Version :: 1.3.4
+- Version :: 2.0.0
 - License :: BSD
 - URL :: https://github.com/janelia-arduino/TMC429
 - Author :: Peter Polidoro

examples/Communicating/Communicating.ino

@@ -18,9 +18,6 @@ void setup()
   Serial.begin(BAUD);
 
   tmc429.setup(CHIP_SELECT_PIN,CLOCK_FREQUENCY_MHZ);
-
-  tmc429.initialize();
-
 }
 
 void loop()

examples/Communicating_ESP32/Communicating_ESP32.ino

@@ -50,7 +50,6 @@ void setup()
   ledcWrite(0, 1);
 
   tmc429.setup(CHIP_SELECT_PIN, CLOCK_FREQUENCY_MHZ);
-  tmc429.initialize();
 }
 
 void loop()

examples/Limits/Limits.ino

@@ -29,8 +29,6 @@ void setup()
   Serial.begin(BAUD);
 
   tmc429.setup(CHIP_SELECT_PIN,CLOCK_FREQUENCY_MHZ);
-
-  tmc429.initialize();
 }
 
 void loop()

examples/RampMode/RampMode.ino

@@ -0,0 +1,96 @@
+#include <Arduino.h>
+#include <TMC2209.h>
+#include <TMC429.h>
+
+const long SERIAL_BAUD_RATE = 115200;
+const int BETWEEN_MOVE_DELAY = 2000;
+const int CHECK_AT_POSITION_DELAY = 500;
+
+// Stepper driver settings
+HardwareSerial & serial_stream = Serial1;
+// current values may need to be reduced to prevent overheating depending on
+// specific motor and power supply voltage
+const int RUN_CURRENT_PERCENT = 40;
+const int MICROSTEPS_PER_STEP = 256;
+
+// Instantiate stepper driver
+TMC2209 stepper_driver;
+
+// Stepper controller settings
+const int CHIP_SELECT_PIN = 10;
+const int CLOCK_FREQUENCY_MHZ = 32;
+const int MOTOR_INDEX = 0;
+const int STEPS_PER_REV = 200;
+const int MICROSTEPS_PER_REV = STEPS_PER_REV*MICROSTEPS_PER_STEP;
+const long REVS_PER_MOVE = 10;
+const long TARGET_POSITION = REVS_PER_MOVE * MICROSTEPS_PER_REV;
+const int ACCELERATION_MAX = 2 * MICROSTEPS_PER_REV;
+const long ZERO_POSITION = 0;
+const long VELOCITY_MAX = 2 * MICROSTEPS_PER_REV;
+const long VELOCITY_MIN = 500;
+
+// Instantiate stepper controller
+TMC429 stepper_controller;
+
+long target_position, actual_position;
+
+void setup()
+{
+  Serial.begin(SERIAL_BAUD_RATE);
+
+  stepper_driver.setup(serial_stream);
+  stepper_driver.setRunCurrent(RUN_CURRENT_PERCENT);
+  stepper_driver.enableAutomaticCurrentScaling();
+  stepper_driver.enableAutomaticGradientAdaptation();
+  stepper_driver.enableCoolStep();
+
+  stepper_controller.setup(CHIP_SELECT_PIN, CLOCK_FREQUENCY_MHZ);
+  stepper_controller.disableLeftSwitchStop(MOTOR_INDEX);
+  stepper_controller.disableRightSwitches();
+  stepper_controller.disableRightSwitchStop(MOTOR_INDEX);
+  stepper_controller.setLimitsInHz(MOTOR_INDEX, VELOCITY_MIN, VELOCITY_MAX, ACCELERATION_MAX);
+  stepper_controller.setRampMode(MOTOR_INDEX);
+
+  stepper_controller.setActualPosition(MOTOR_INDEX, ZERO_POSITION);
+  stepper_controller.setTargetPosition(MOTOR_INDEX, ZERO_POSITION);
+
+  stepper_driver.enable();
+}
+
+void loop()
+{
+  actual_position = stepper_controller.getActualPosition(MOTOR_INDEX);
+  Serial.print("actual position: ");
+  Serial.println(actual_position);
+  Serial.println();
+  delay(BETWEEN_MOVE_DELAY);
+
+  Serial.print("set target position: ");
+  Serial.println(TARGET_POSITION);
+  stepper_controller.setTargetPosition(MOTOR_INDEX, TARGET_POSITION);
+  while (!stepper_controller.atTargetPosition(MOTOR_INDEX))
+  {
+    Serial.print("target position: ");
+    Serial.println(stepper_controller.getTargetPosition(MOTOR_INDEX));
+    Serial.print("actual position: ");
+    Serial.println(stepper_controller.getActualPosition(MOTOR_INDEX));
+    delay(CHECK_AT_POSITION_DELAY);
+  }
+  Serial.println("at target position!");
+  Serial.println();
+  delay(BETWEEN_MOVE_DELAY);
+
+  Serial.print("set target position: ");
+  Serial.println(ZERO_POSITION);
+  stepper_controller.setTargetPosition(MOTOR_INDEX, ZERO_POSITION);
+  while (!stepper_controller.atTargetPosition(MOTOR_INDEX))
+  {
+    Serial.print("target position: ");
+    Serial.println(stepper_controller.getTargetPosition(MOTOR_INDEX));
+    Serial.print("actual position: ");
+    Serial.println(stepper_controller.getActualPosition(MOTOR_INDEX));
+    delay(CHECK_AT_POSITION_DELAY);
+  }
+  Serial.println();
+  delay(BETWEEN_MOVE_DELAY);
+}

examples/TMC429_TMC26X_EVAL/TMC429_TMC26X_EVAL.ino

@@ -33,8 +33,6 @@ void setup()
   bool communicating = step_dir_controller.communicating();
   Serial << "communicating: " << communicating << "\n";
 
-  step_dir_controller.initialize();
-
   const int microsteps_per_rev = STEPS_PER_REV*MICROSTEPS_PER_STEP;
   velocity_max = microsteps_per_rev*REVS_PER_SEC_MAX;
   velocity_inc = microsteps_per_rev/INC_PER_REV;

examples/TestConnection/TestConnection.ino

@@ -25,8 +25,6 @@ void setup()
 
   bool communicating = tmc429.communicating();
   Serial << "communicating: " << communicating << "\n";
-
-  tmc429.initialize();
 }
 
 void loop()

examples/VelocityMode/VelocityMode.ino

@@ -0,0 +1,68 @@
+#include <Arduino.h>
+#include <TMC2209.h>
+#include <TMC429.h>
+
+const long SERIAL_BAUD_RATE = 115200;
+const int LOOP_DELAY = 1000;
+
+// Stepper driver settings
+HardwareSerial & serial_stream = Serial1;
+// current values may need to be reduced to prevent overheating depending on
+// specific motor and power supply voltage
+const int RUN_CURRENT_PERCENT = 40;
+const int MICROSTEPS_PER_STEP = 256;
+
+// Instantiate stepper driver
+TMC2209 stepper_driver;
+
+// Stepper controller settings
+const int CHIP_SELECT_PIN = 10;
+const int CLOCK_FREQUENCY_MHZ = 32;
+const int MOTOR_INDEX = 0;
+const int STEPS_PER_REV = 200;
+const int REVS_PER_SEC_MAX = 2;
+const int MICROSTEPS_PER_REV = STEPS_PER_REV*MICROSTEPS_PER_STEP;
+const int ACCELERATION_MAX = MICROSTEPS_PER_REV / 2;
+const long VELOCITY_MAX = REVS_PER_SEC_MAX * MICROSTEPS_PER_REV;
+const long VELOCITY_MIN = 50;
+
+// Instantiate stepper controller
+TMC429 stepper_controller;
+
+long target_velocity, actual_velocity;
+
+void setup()
+{
+  Serial.begin(SERIAL_BAUD_RATE);
+
+  stepper_driver.setup(serial_stream);
+  stepper_driver.setRunCurrent(RUN_CURRENT_PERCENT);
+  stepper_driver.enableAutomaticCurrentScaling();
+  stepper_driver.enableAutomaticGradientAdaptation();
+  stepper_driver.enableCoolStep();
+
+  stepper_controller.setup(CHIP_SELECT_PIN, CLOCK_FREQUENCY_MHZ);
+  stepper_controller.disableLeftSwitchStop(MOTOR_INDEX);
+  stepper_controller.disableRightSwitches();
+  stepper_controller.setVelocityMode(MOTOR_INDEX);
+  stepper_controller.setLimitsInHz(MOTOR_INDEX, VELOCITY_MIN, VELOCITY_MAX, ACCELERATION_MAX);
+
+  stepper_driver.enable();
+}
+
+void loop()
+{
+  delay(LOOP_DELAY);
+
+  stepper_controller.setTargetVelocityInHz(MOTOR_INDEX, VELOCITY_MAX);
+  Serial.print("set target_velocity: ");
+  Serial.println(target_velocity);
+  Serial.print("at target_velocity: ");
+  Serial.println(stepper_controller.atTargetVelocity(MOTOR_INDEX));
+
+  target_velocity = stepper_controller.getTargetVelocityInHz(MOTOR_INDEX);
+
+  actual_velocity = stepper_controller.getActualVelocityInHz(MOTOR_INDEX);
+  Serial.print("actual_velocity: ");
+  Serial.println(actual_velocity);
+}

library.properties

@@ -1,10 +1,9 @@
 name=TMC429
-version=1.3.4
+version=2.0.0
 author=Peter Polidoro <[email protected]>
 maintainer=Peter Polidoro <[email protected]>
 sentence=Trinamic TMC429 triple-axis dedicated step and direction motion controller.
 paragraph=Like this project? Please star it on GitHub!
 category=Device Control
 url=https://github.com/janelia-arduino/TMC429.git
 architectures=*
-depends=Streaming