# StepMotor

**Repository Path**: xiaofangzi_code/step-motor

## Basic Information

- **Project Name**: StepMotor
- **Description**: 步进电机相关程序，加减速、闭环等
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 3
- **Created**: 2024-03-01
- **Last Updated**: 2024-03-01

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

## 程序功能

采用TMC2209驱动芯片进行步进电机控制

主控芯片是STM32F103C8T6

## 功能实现

* TMC2209串口控制程序

* 20210626 
  实现梯形加减速

## To Do List

* TLE5012驱动编写
* S形加减速实现



## 速度换算等

1rad/s≈9.55rpm

1rpm≈1.015rad/s

1rad=180°/Π≈57.3°

1°=Π/180rad≈0.017rad

1.8°步距角情况下

​	1HZ=0.01Πrad/s

​	1rad/s≈31.83HZ