Add support for the 36v8. Change version number to 1.1.0.

Author: DavidEGrayson

HighPowerStepperDriver.h

@@ -381,6 +381,29 @@ class HighPowerStepperDriver
   void setCurrentMilliamps36v4(uint16_t current)
   {
     if (current > 8000) { current = 8000; }
+    setCurrentMilliamps36v8(current);
+  }
+
+  /// Sets the current limit for a High-Power Stepper Motor Driver 36v8.
+  ///
+  /// The argument to this function should be the desired current limit in
+  /// milliamps.
+  ///
+  /// WARNING: The 36v4 can supply up to about 8 A per coil continuously;
+  /// higher currents might be sustainable for short periods, but can eventually
+  /// cause the MOSFETs to overheat, which could damage them.  See the driver's
+  /// product page for more information.
+  ///
+  /// This function allows you to set a current limit of up to 16 A (16000 mA),
+  /// but we strongly recommend against using a current limit higher than 8 A
+  /// (8000 mA) unless you are careful to monitor the MOSFETs' temperatures
+  /// and/or restrict how long the driver uses the higher current limit.
+  ///
+  /// This function takes care of setting appropriate values for ISGAIN and
+  /// TORQUE to get the desired current limit.
+  void setCurrentMilliamps36v8(uint16_t current)
+  {
+    if (current > 16000) { current = 16000; }
 
     // From the DRV8711 datasheet, section 7.3.4, equation 2:
     //
@@ -390,11 +413,12 @@ class HighPowerStepperDriver
     //
     //   TORQUE = (256 * ISGAIN * Risense * Ifs) / 2.75 V
     //
-    // The 36v4 has an Risense of 30 milliohms, and "current" is in milliamps,
-    // so:
+    // The 36v4 and 36v8 have an Risense of 30 milliohms, and "current" is
+    // in milliamps, so:
     //
     //   TORQUE = (256 * ISGAIN * (30/1000) ohms * (current/1000) A) / 2.75 V
     //          = (7680 * ISGAIN * current) / 2750000
+    //          = (768 * (ISGAIN/40) * current) / 6875
     //
     // We want to pick the highest gain (5, 10, 20, or 40) that will not
     // overflow TORQUE (8 bits, 0xFF max), so we start with a gain of 40 and

README.md

@@ -1,14 +1,13 @@
 # High-Power Stepper Motor Driver library for Arduino
 
-Version: 1.0.0<br/>
-Release date: 2019-06-04<br/>
 [www.pololu.com](https://www.pololu.com/)
 
 ## Summary
 
-This is a library for the Arduino IDE that helps interface with a [Pololu
-High-Power Stepper Motor Driver 36v4][hpsd-36v4].  It uses the [Arduino
-SPI][spi] library to communicate with the SPI interface (SCS, SCLK, SDATI, and
+This is a library for the Arduino IDE that helps interface with a
+[Pololu High-Power Stepper Motor Driver 36v4][hpsd-36v4] or
+[Pololu High-Power Stepper Motor Driver 36v8][hpsd-36v8].  It uses the
+[Arduino SPI][spi] library to communicate with the SPI interface (SCS, SCLK, SDATI, and
 SDATO) of the driver.
 
 ## Supported platforms
@@ -87,6 +86,7 @@ HighPowerStepperDriver class reference.
 
 ## Version history
 
+* 1.1.0 (2024-12-06): Added support for the [Pololu High-Power Stepper Motor Driver 36v8][hpsd-36v8].
 * 1.0.0 (2019-06-04): Original release.
 
 [a-star]: https://www.pololu.com/a-star
@@ -95,4 +95,5 @@ HighPowerStepperDriver class reference.
 [doc]: https://pololu.github.io/high-power-stepper-driver-arduino/
 [github]: https://github.com/pololu/high-power-stepper-driver-arduino/releases
 [hpsd-36v4]: https://www.pololu.com/product/3730
+[hpsd-36v8]: https://www.pololu.com/product/3731
 [spi]: http://www.arduino.cc/en/Reference/SPI

examples/BasicStepping/BasicStepping.ino

@@ -48,7 +48,8 @@ void setup()
   sd.setDecayMode(HPSDDecayMode::AutoMixed);
 
   // Set the current limit. You should change the number here to an appropriate
-  // value for your particular system.
+  // value for your particular system.  If you are using a 36v8 board, call
+  // setCurrentMilliamps36v8 instead.
   sd.setCurrentMilliamps36v4(1000);
 
   // Set the number of microsteps that correspond to one full step.
@@ -103,4 +104,4 @@ void setDirection(bool dir)
   delayMicroseconds(1);
   digitalWrite(DirPin, dir);
   delayMicroseconds(1);
-}
+}

examples/BasicSteppingSPI/BasicSteppingSPI.ino

@@ -6,7 +6,7 @@
 // functions.
 //
 // Since SPI is used to trigger steps and set the direction, connecting the
-// driver's STEP and DIR pins is optional for this example.  However, note that
+// driver's STEP and DIR pins are not needed for this example.  Note that
 // using SPI control adds some overhead compared to using the STEP and DIR pins.
 // In addition, since the library caches SPI register values, SPI control is
 // more likely to re-enable the driver with the wrong settings (e.g. current
@@ -49,7 +49,8 @@ void setup()
   sd.setDecayMode(HPSDDecayMode::AutoMixed);
 
   // Set the current limit. You should change the number here to an appropriate
-  // value for your particular system.
+  // value for your particular system.  If you are using a 36v8 board, call
+  // setCurrentMilliamps36v8 instead.
   sd.setCurrentMilliamps36v4(1000);
 
   // Set the number of microsteps that correspond to one full step.
@@ -82,4 +83,4 @@ void loop()
 
   // Wait for 300 ms.
   delay(300);
-}
+}

keywords.txt

@@ -26,8 +26,9 @@ getDirection	KEYWORD2
 step	KEYWORD2
 setStepMode	KEYWORD2
 setCurrentMilliamps36v4	KEYWORD2
+setCurrentMilliamps36v8	KEYWORD2
 setDecayMode	KEYWORD2
 readStatus	KEYWORD2
 clearStatus	KEYWORD2
 readFaults	KEYWORD2
-clearFaults	KEYWORD2
+clearFaults	KEYWORD2

library.properties

@@ -1,5 +1,5 @@
 name=HighPowerStepperDriver
-version=1.0.0
+version=1.1.0
 author=Pololu
 maintainer=Pololu <inbox@pololu.com>
 sentence=High-Power Stepper Motor Driver library for Arduino