TactiDriver

Step Dir based control for stepper motors using TactiCom communication protocol.

Pinout

Pin	Function
2	Motor 0 Step
3	Motor 0 Dir
4	Motor 1 Step
5	Motor 1 Dir
6	Motor 2 Step
7	Motor 2 Dir
8	Motor 3 Step
9	Motor 3 Dir

Edit NB_STEPPERS constant & steppers array to add or remove steppers.

Usage

Commands are sent over serial over the TactiCom protocol using prefix TD. The following commands are supported:

• cs=<speed_0>: Run all steppers at the same speed.
• cs=<speed_0>,<speed_1>,<speed_2>,<speed_3>: Run all steppers at the specified speeds.
• cs_i=<stepper_id>,<speed>: Run a specific stepper at a specific speed (id starts from 0).
• go=<steps_0>,<speed_0>: Move all steppers by the same number of steps at the specified speed.
• go=<steps_0>,<speed_0>,<steps_1>,<speed_1>,<steps_2>,<speed_2>,<steps_3>,<speed_3>: Move all steppers by the specified number of steps at the specified speeds.
• go_i=<stepper_id>,<steps>,<speed>: Move a specific stepper by the specified number of steps at the specified speed.