max speed with tcm 16 microsteps

[guestisp]

Hi all
i've read that the max speed for this library is 4000steps/s to have a reliable movement.

But is this including the 16 microsteps for TMC2209 (or others) or just the full step? Because i'm currently using 9600 steps/mm (200 * 3 * 16microsteps) without any visible issue on a ESP32 but i need a little bit more speed, like 12800 (200416 steps/s)

What do you think ?

[Rerouter]

I may have worked out how to make it run at-least faster, the rate of acceleration may change its scaling as a side effect, but it retains the behavior towards direction changes while allowing as high a max speed as you have defined, not saying your device can crunch it, but it allows it to reach it.

_cn could only get slightly lower than the original acceleration, so unless you set a very high value it limited your max speed,

something you can try as a patch is replacing this
_cn = _cn - ((2.0 * _cn) / ((4.0 * _n) + 1)); // Equation 13
with
_cn = ((2.0 * _c0) / ((4.0 * _n) + 1));

and this
long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16
with
long stepsToStop = abs(_n);