BigTreeTech TMC2209 V1.3 UART stepper Motor Controllers with three NEMA 23 stepper motors in an auto tuner demonstrating StallGuard operation.
Upon detectimg a stall via an interrupt to the Teensy 4.0 from the DIAG pin on the stepper motor controllers, the stepper motors are commanded to reverse direction. The StallGuard feature of the TMC2209 allows sensor less homing, doing away with the need for electromechanical means to detect the end of travel.
In the auto tuner, StallGuard is used to "home" the two capacitors and roller inductor.
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