Add Toshiba TB6600 stepper driver support (fixes #105)

AGENTS.md

@@ -4,7 +4,7 @@ This file provides guidelines for AI coding assistants working with the StepperD
 
 ## Project Overview
 
-**StepperDriver** is an Arduino library for controlling stepper motors via driver boards that use STEP/DIR pins (indexer mode). It supports multiple driver ICs including A4988, DRV8825, DRV8834, and DRV8880.
+**StepperDriver** is an Arduino library for controlling stepper motors via driver boards that use STEP/DIR pins (indexer mode). It supports multiple driver ICs including A4988, DRV8825, DRV8834, DRV8880, TMC2100, and TB6600.
 
 - **Language**: C++ (Arduino)
 - **License**: MIT
@@ -22,6 +22,7 @@ StepperDriver/
 │   ├── DRV8834.h/cpp            # DRV8834-specific driver
 │   ├── DRV8880.h/cpp            # DRV8880-specific driver
 │   ├── TMC2100.h/cpp            # TMC2100-specific driver
+│   ├── TB6600.h/cpp             # TB6600-specific driver
 │   ├── MultiDriver.h/cpp        # Multi-motor coordination
 │   └── SyncDriver.h/cpp         # Synchronized multi-motor movement
 ├── examples/               # Arduino example sketches
@@ -43,11 +44,13 @@ StepperDriver/
 BasicStepperDriver        # Base class - generic 2-pin (DIR/STEP) control
 ├── A4988                 # Adds microstepping control (MS1/MS2/MS3)
 │   └── DRV8825          # Extends A4988 with M0/M1/M2 and 1:32 support
-│       └── DRV8834      # Low-voltage variant, M0/M1 only
-│           └── DRV8880  # Adds current/torque control
+├── DRV8834               # Low-voltage variant, M0/M1 only
+├── DRV8880               # Adds current/torque control
 ├── TMC2100               # SilentStepStick-specific driver
-└── MultiDriver           # Coordinates multiple motors
-    └── SyncDriver       # Synchronized movement for multiple motors
+└── TB6600                # Toshiba TB6600 (microstepping via DIP switches)
+
+MultiDriver               # Coordinates multiple motors (standalone, wraps drivers)
+└── SyncDriver            # Synchronized movement for multiple motors
 ```
 
 ## Coding Conventions

README.md

@@ -19,6 +19,7 @@ Hardware currently supported:
    - <a href="https://www.pololu.com/product/2131">DRV8825</a> up to 1:32
    - <a href="https://www.pololu.com/product/2971">DRV8880</a> up to 1:16, with current/torque control
    - <a href="https://www.trinamic.com/products/integrated-circuits/details/tmc2100/">TMC2100</a> up to 1:16 native (1:256 interpolated)
+   - Toshiba TB6600 up to 1:16, microstepping set via DIP switches
    - any other 2-pin stepper via DIR and STEP pins, microstepping up to 1:128 externally set
 
 Microstepping

examples/TB6600/TB6600.ino

@@ -0,0 +1,63 @@
+/*
+ * TB6600 Stepper Driver demo
+ *
+ * TB6600 modules use opto-isolated PUL(STEP)/DIR/ENA inputs and set
+ * microstepping via on-board DIP switches (no microstep control pins).
+ * Set MICROSTEPS below to match the DIP switch selection.
+ *
+ * NOTE: On common TB6600 boards ENA is active LOW. If you wire ENABLE,
+ * uncomment stepper.setEnableActiveState(LOW) in setup().
+ *
+ * Copyright (C)2026 Laurentiu Badea
+ *
+ * This file may be redistributed under the terms of the MIT license.
+ * A copy of this license has been included with this distribution in the file LICENSE.
+ */
+#include <Arduino.h>
+#include "TB6600.h"
+
+// Motor steps per revolution. Most steppers are 200 steps or 1.8 degrees/step
+#define MOTOR_STEPS 200
+#define RPM 120
+
+// Microstepping is set on the board's DIP switches - match it here.
+// 1=full step, 2=half step etc.
+#define MICROSTEPS 1
+
+#define DIR 8
+#define STEP 9
+// Uncomment to use enable/disable functionality on the ENA pin
+//#define ENABLE 13
+
+// Basic 2-wire config: DIR and STEP(PUL), microstepping via DIP switches
+TB6600 stepper(MOTOR_STEPS, DIR, STEP);
+
+// Uncomment to also wire ENABLE (ENA)
+//TB6600 stepper(MOTOR_STEPS, DIR, STEP, ENABLE);
+
+void setup() {
+    stepper.begin(RPM, MICROSTEPS);
+    // Most TB6600 boards use active-LOW ENA - uncomment if using ENABLE:
+    // stepper.setEnableActiveState(LOW);
+}
+
+void loop() {
+
+    // energize coils - the motor will hold position
+    // stepper.enable();
+
+    /*
+     * Moving motor one full revolution using the degree notation
+     */
+    stepper.rotate(360);
+
+    /*
+     * Moving motor to original position using steps
+     */
+    stepper.move(-MOTOR_STEPS*MICROSTEPS);
+
+    // pause and allow the motor to be moved by hand
+    // stepper.disable();
+
+    delay(5000);
+}

keywords.txt

@@ -9,6 +9,7 @@ A4988	KEYWORD1
 MultiDriver	KEYWORD1
 SyncDriver	KEYWORD1
 TMC2100	KEYWORD1
+TB6600	KEYWORD1
 
 setMicrostep	KEYWORD2
 setSpeedProfile	KEYWORD2

library.json

@@ -1,7 +1,7 @@
 {
   "name": "StepperDriver",
   "version": "1.5.1",
-  "description": "Control steppers via a driver board providing STEP+DIR like the ones from Pololu. Microstepping is supported. Acceleration is supported. Supported drivers are A4988, DRV8824, DRV8825, DRV8834, DRV8880, TMC2100.",
+  "description": "Control steppers via a driver board providing STEP+DIR like the ones from Pololu. Microstepping is supported. Acceleration is supported. Supported drivers are A4988, DRV8824, DRV8825, DRV8834, DRV8880, TMC2100, TB6600.",
   "repository": {
     "type": "git",
     "url": "https://github.com/laurb9/StepperDriver"
@@ -13,7 +13,8 @@
     "DRV8824",
     "DRV8825",
     "DRV8880",
-    "TMC2100"
+    "TMC2100",
+    "TB6600"
   ],
   "authors": [
     {

library.properties

@@ -3,7 +3,7 @@ version=1.5.1
 author=Laurentiu Badea
 maintainer=Laurentiu Badea
 sentence=A4988, DRV8825, TMC2100 and generic two-pin stepper motor driver library.
-paragraph=Control steppers via a driver board providing STEP+DIR like the ones from Pololu. Microstepping is supported. Acceleration is supported. Supported drivers are A4988, DRV8824, DRV8825, DRV8834, DRV8880, TMC2100.
+paragraph=Control steppers via a driver board providing STEP+DIR like the ones from Pololu. Microstepping is supported. Acceleration is supported. Supported drivers are A4988, DRV8824, DRV8825, DRV8834, DRV8880, TMC2100, TB6600.
 category=Device Control
 url=https://github.com/laurb9/StepperDriver
 architectures=*

src/TB6600.cpp

@@ -0,0 +1,26 @@
+/*
+ * TB6600 - Toshiba Stepper Motor Driver
+ * Indexer mode only.
+ *
+ * Copyright (C)2026 Laurentiu Badea
+ *
+ * This file may be redistributed under the terms of the MIT license.
+ * A copy of this license has been included with this distribution in the file LICENSE.
+ */
+#include "TB6600.h"
+
+/*
+ * Basic connection: only DIR, STEP (PUL) are connected.
+ * Microstepping is configured via the board's DIP switches.
+ */
+TB6600::TB6600(short steps, short dir_pin, short step_pin)
+:BasicStepperDriver(steps, dir_pin, step_pin)
+{ initTiming(); }
+
+TB6600::TB6600(short steps, short dir_pin, short step_pin, short enable_pin)
+:BasicStepperDriver(steps, dir_pin, step_pin, enable_pin)
+{ initTiming(); }
+
+short TB6600::getMaxMicrostep(){
+    return TB6600::MAX_MICROSTEP;
+}

src/TB6600.h

@@ -0,0 +1,50 @@
+/*
+ * TB6600 - Toshiba Stepper Motor Driver
+ * Indexer mode only.
+ *
+ * TB6600 modules (PUL/DIR/ENA) set microstepping via on-board DIP switches,
+ * so there are no microstep control pins. Set the same MICROSTEPS value in
+ * software (begin()/setMicrostep()) as configured on the DIP switches so the
+ * timing calculations are correct.
+ *
+ * NOTE: Common TB6600 boards use opto-isolated PUL/DIR/ENA inputs where ENA is
+ * typically active LOW. If you wire ENABLE, you may need setEnableActiveState(LOW).
+ *
+ * Copyright (C)2026 Laurentiu Badea
+ *
+ * This file may be redistributed under the terms of the MIT license.
+ * A copy of this license has been included with this distribution in the file LICENSE.
+ */
+#ifndef TB6600_H
+#define TB6600_H
+#include <Arduino.h>
+#include "BasicStepperDriver.h"
+
+class TB6600 : public BasicStepperDriver {
+protected:
+    // Set timing requirements from TB6600 datasheet
+    void initTiming(){
+        // min clock (PUL) HIGH pulse duration (2.2us -> 3)
+        step_high_min = 3;
+        // min clock (PUL) LOW pulse duration (2.2us -> 3)
+        step_low_min = 3;
+        // wakeup time after ENA released (10us)
+        wakeup_time = 10;
+    }
+
+    // Get max microsteps supported by the device (TB6600HG up to 1:16)
+    short getMaxMicrostep() override;
+
+private:
+    // microstep range (1, 2, 4, 8, 16), configured via DIP switches
+    static const short MAX_MICROSTEP = 16;
+
+public:
+    /*
+     * Basic connection: only DIR, STEP (PUL) are connected.
+     * Microstepping is configured via the board's DIP switches.
+     */
+    TB6600(short steps, short dir_pin, short step_pin);
+    TB6600(short steps, short dir_pin, short step_pin, short enable_pin);
+};
+#endif // TB6600_H