# Motor Control Firmware

This firmware component controlls a XY-Machine with two stepper motors
(Driver: TMC2209). Homing is done via two limit switches. The hole XY-Machine is can be controlled via CAN-Bus (Module: MCP2515).

## CAN-Interface

## Motor Wiring
### 17HS10-2004S1
Nema 17 Bipolar 59Ncm(83.55oz.in) 2A 42x42x48mm

| Color | Function | Pin |
|-------|----------|-----|
| Black | A+       | 3   |
| Green | A-       | 2   |
| Red   | B+       | 4   |
| Blue  | B-       | 1   |