README.md

# MachineKit Stepper Driver

![stepper](/images/onmachine.jpg)

See [circuit chatter](/circuit) and [programming chatter](/embedded).

## 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

![17board](/images/mkstepper17-routed.png)

![17schematic](/images/mkstepper17-schematic.png)

## MKStepper23
 - is out to fab

![23board](/images/mkstepper23-routed.png)

![23schematic](/images/mkstepper23-schematic.png)