Hard-switching a stepper motor’s coils in full-step mode (wave-drive) causes the motor to jump from one step position to the next, resulting in overshoot, torque ripple, and vibrations.
Adjust the phase current, crank up the microstepping, and forget about it — that’s what most people want out of a stepper motor ... and 256 microsteps per full-step, and then gives you ...
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