Add Toshiba TB6600 stepper driver support (fixes #105)#141
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TB6600 modules expose opto-isolated PUL(STEP)/DIR/ENA inputs and set microstepping via on-board DIP switches, so there are no microstep control pins. The new TB6600 class inherits BasicStepperDriver directly and only sets its datasheet timing (min PUL clock HIGH/LOW 2.2us -> 3us, wakeup 10us) in its constructors, and overrides getMaxMicrostep() to 16 (TB6600HG supports 1:16). Header documents that common boards use active-LOW ENA, so users wiring ENABLE may need setEnableActiveState(LOW). Also adds an example sketch, keywords.txt entry, and updates the AGENTS.md class hierarchy / repository structure, README supported-hardware list, and library.properties / library.json metadata. Verified: TB6600 example builds clean for arduino:avr:uno with --warnings all, library links and sim-test verdicts match baseline. Agent: claude-opus-4-8 (Claude Code 2.1.153), amended and verified by claude-fable-5; max context and thinking level not exposed to the agent Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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Summary
Adds a
TB6600driver class per #105. Stacked on #140 (base branchfix/step-pulse-timing) because the TB6600's 2.2µs minimum clock pulse only takes effect once step timings are instance members — merge #140 first and this PR will retarget to master.Fixes #105.
Changes
src/TB6600.h/.cpp:TB6600 : public BasicStepperDriver. TB6600 modules (PUL/DIR/ENA) set microstepping via DIP switches, so no mode pins;getMaxMicrostep()returns 16 (TB6600HG max 1:16). Timing set to 3µs high/low (datasheet min 2.2µs, rounded up) with 10µs wake. Header notes that common opto-isolated boards use active-LOW ENA (setEnableActiveState(LOW)).examples/TB6600/TB6600.inoexample sketch.keywords.txt,README.md,library.properties,library.json, AGENTS.md structure/hierarchy updated. The AGENTS.md class-hierarchy diagram was also corrected: DRV8834/DRV8880/TMC2100 inheritBasicStepperDriverdirectly (the diagram previously showed a DRV8825→DRV8834→DRV8880 chain that does not exist in the code), andMultiDriveris standalone.Testing
make sim-test(simavr, ATmega328P): 14/14 verdict lines match the golden baseline.make TB6600.hex TARGET=arduino:avr:uno: clean, no warnings (4736 bytes flash).pio ci --lib src --board esp32dev examples/TB6600: SUCCESS (32-bit target).Agent: claude-opus-4-8 (Claude Code 2.1.153), reviewed and verified by claude-fable-5; max context and thinking level not exposed to the agent
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