Want to see the driver in action? These examples are designed for quick standalone tests but you can also use them as references when folding the code into a larger project. Each program compiles to a tiny executable that talks to your interface implementation.

A collection of small examples demonstrates how to use different parts of the library. This document explains how to build each one on a desktop machine using the GNU toolchain. The same commands apply to other platforms with a compatible C++20 compiler.

1. Basic Command Line

All examples are built by compiling src/TMC9660.cpp together with the chosen example source file. For instance, to build the BLDC example that uses Hall sensors run:

g++ -std=c++20 -Iinc src/TMC9660.cpp examples/BLDC_with_HALL.cpp -o hall_demo

Execute ./hall_demo to run it. If your transport layer only echoes data (like the DummyBus used in the docs) you’ll simply see some debug prints. When hooked up to real hardware the same binary will drive the motor.

2. List of Examples

File	Description
`bootloader_example.cpp`	Configure bootloader registers.
`BLDC_with_HALL.cpp`	BLDC motor using Hall sensor feedback.
`BLDC_with_ABN.cpp`	BLDC motor with incremental encoder.
`BLDC_velocity_control.cpp`	Basic velocity loop for a DC motor.
`DC_current_control.cpp`	Open loop current drive for a DC motor.
`Stepper_FOC.cpp`	Closed loop FOC control of a stepper motor.
`Stepper_step_dir.cpp`	Enable the STEP/DIR interface.
`Telemetry_monitor.cpp`	Continuously read telemetry values.

Use the same compilation pattern for each file, replacing the source name and output executable.

3. Including Bootloader Support

Some examples require the bootloader helper class. Add src/TMC9660Bootloader.cpp to the command line when building those programs:

g++ -std=c++20 -Iinc src/TMC9660.cpp src/TMC9660Bootloader.cpp \

examples/bootloader_example.cpp -o boot_demo

4. Cleaning Up 🧹

The repository does not include a Makefile, so compiled objects are left in the working directory. Remove them with rm or create your own build scripts once you have verified the commands above work on your system. When integrating into a larger project you will most likely add these source files to your existing Makefile or CMakeLists.txt.

⬅️ Prev | ⬆️ Back to Index | Next ➡️