This week I finally got my hands on a lot of the hardware I needed. I finished soldering the stepper control board and did preliminary testing to make sure it worked. After I verified it was all working correctly and could microstep in both directions I started testing the code I wrote for going to an angle. It took a little bit of tweaking, but it now is at the point where I can send an angle over serial (also a velocity but that doesn’t do anything yet), and it will turn to the closest angle it can to that. I minimize the difference by tracking the global angle that it arrived at after each step, so that it doesn’t always assume that it turns to the exact angle given by the user.
Video of stepper testing:
https://drive.google.com/file/d/1XPMc-EM1ohryy9YpaJJoyoN1blSXRkv9/view?usp=sharing
The DC Motor also arrived today so I’m excited to get that test rig set up as well.