Basic Teensy Stepper Motor & Limit Switch Control

📌 Overview

This project is a basic tutorial for using a Teensy 4.0 to control a stepper motor with an A4988 driver and a limit switch for homing. It is intended as a starting point for expanding into a more complex system that integrates LiDAR sensors for dynamic movement control.

📂 Project Structure

joseriyancyriac-basic-teensy-tutorial/
├── platformio.ini   # PlatformIO configuration for Teensy 4.0
├── include/         # Project headers (currently unused)
├── lib/             # Private libraries (if needed later)
├── src/
│   └── main.cpp     # Main firmware code
└── test/            # Test files for unit testing

⚙️ Features Implemented

✅ Stepper Motor Control – Uses the AccelStepper library.
✅ Enable Pin Logic – Stops/Disables motor when necessary.
✅ Gravity Compensation – Motor stays active to prevent freefall when needed.
✅ Limit Switch Integration – Placed at the topmost position to prevent over-travel.
✅ Homing Routine – Moves to limit switch, backs off 10 steps, sets zero position.
✅ Manual Control – W/S keys allow manual movement up/down.

🎯 Next Steps

🔹 Integrate LiDAR Sensor Data for automatic positioning.
🔹 Optimize Movement Logic for real-world application.

💾 Commands

• h → Home the stepper motor (move to limit switch).
• w → Move up to the home position (0 steps).
• s → Move down to the max displacement (-588 steps).
• d → Stop motor and disable driver.

🛠️ Dependencies

• Teensy 4.0
• A4988 Stepper Driver
• NEMA 17 Stepper Motor
• AccelStepper Library (waspinator/AccelStepper@^1.64)

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📌 This is a foundational project. The next step is integrating LiDAR sensor feedback. 🚀
📂 Repo maintained for future reference.

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