Steppers

Having the appropriate pulse rate is critical when driving the steppers in a dir/step mode. From the datasheet of, for example, the RS PRO 5350479 stepper motor, we can see that a pulse rate of \(≈ 5\ \text{kHz}\) would be ideal if torque is the main concern.

In order to achieve a reliable pulse rate, we can utilise timer interrupts, which is done using the tc_lib library for Arduino SAM. If you use a different board, you may need to use a different library or implement the timer interrupts by hand.

Thus we which to have a timer period of:

\[ T = f^{-1} = \frac{1}{5000} = 2 ⋅ 10^{-4} s = 2 ⋅ 10^{4} \ \qty[10^{-8}\, s] \]