name: "ESP32 Dev Controller V4"
board: "ESP32 Dev Controller V4"

uart1:
  txd_pin: gpio.10
  rxd_pin: gpio.9
  rts_pin: NO_PIN
  cts_pin: NO_PIN
  baud: 115200
  mode: 8N1




stepping:
  engine: RMT
  idle_ms: 250
  dir_delay_us: 1
  pulse_us: 2
  disable_delay_us: 0



axes:
  #shared_stepper_disable_pin: gpio.13:low
  
  x:
    # 200 * 14 * 32 / 360
    steps_per_mm: 248.888
    max_rate_mm_per_min: 20000
    acceleration_mm_per_sec2: 1500
    max_travel_mm: 1000
    homing:
      cycle: 2
      mpos_mm: 10
      positive_direction: true

    
    motor0:
    
      #limit_pos_pin: gpio.18:low:pu
      #hard_limits: false        # enable later if desired
      #pulloff_mm: 3.0 

      tmc_2209:
        uart_num: 1
        addr: 0
        r_sense_ohms: 0.10
        run_amps: 1.2
        hold_amps: 0.2
        microsteps: 32
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: StealthChop
        homing_mode: StealthChop
        use_enable: true

      limit_all_pin: gpio.18:high     
      stepstick:
        direction_pin: gpio.14:low
        step_pin: gpio.12
        disable_pin: gpio.25:high


  y:
    
    # 200 * 15.5 * 32 / 360
    steps_per_mm: 275.555
    max_rate_mm_per_min: 15000
    acceleration_mm_per_sec2: 100
    max_travel_mm: 1000
    homing:
      cycle: 2
      mpos_mm: 10
      positive_direction: true

    motor0:
      limit_all_pin: gpio.19:high:pu
      tmc_2209:
        uart_num: 1
        addr: 1
        r_sense_ohms: 0.10
        run_amps: 1.2
        hold_amps: 0.10
        microsteps: 32
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: StealthChop
        #homing_mode: StealthChop
        homing_mode: SpreadCycle
        use_enable: true
      stepstick:
        direction_pin: gpio.15
        step_pin: gpio.26
        disable_pin: gpio.13:high


  z:
    # 200 * 14 * 32 / 360  = Steps * Gear * microsteps / degree
    steps_per_mm: 248.888 
    max_rate_mm_per_min: 20000
    acceleration_mm_per_sec2: 1500
    max_travel_mm: 10000
    homing:
      cycle: 1
      mpos_mm: 10
      positive_direction: true

    motor0:      
      tmc_2209:
        uart_num: 1
        addr: 2
        r_sense_ohms: 0.10
        run_amps: 1.0
        hold_amps: 0.2 
        microsteps: 32
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: StealthChop
        homing_mode: StealthChop
        use_enable: true
      limit_all_pin: gpio.16:low:pu
      stepstick:
        direction_pin: gpio.33:low
        step_pin: gpio.27
        disable_pin: gpio.2:high
    


start:
  must_home: false