MachineKit Stepper Driver

See circuit chatter and programming chatter.

Commands

Block (defines one trapezoid)

• key: 129, steps to make (signed int32), entry speed (uint32) mm/min, acceleration rate (uint32) mm/min/s, acceleration steps (uint32), steps until deceleration (uint32)
• careful, it's possible to specify a block that will not terminate (zero speed while still having steps to make)
• returns an ack when the block is complete

Todo

• working on next boards, one for NEMA17s (board is out to fab) and one for NEMA23s (board is being designed)
• if necessary, more accurate step ticker, rather than current polling technique

MKStepper17

• is out to fab

MKStepper23

• is out to fab