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    # MachineKit Stepper Driver
    
    
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    ![board](/images/23-fab-front.jpg)
    
    ![board](/images/23-fab-back.jpg)
    
    ![board](/images/17-fab-front.jpg)
    
    ![board](/images/17-fab-back.jpg)
    
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    See [circuit chatter](/circuit) and [programming chatter](/embedded).
    
    
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    ## Commands
    
    
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    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
    
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    # Todo
    
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     - 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
    
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    ## MKStepper17
    
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     - is out to fab
    
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    ![17board](/images/mkstepper17-routed.png)
    
    ![17schematic](/images/mkstepper17-schematic.png)
    
    
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     - make sure power inputs are properly sized, currently they are under 
    
    
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    ## MKStepper23
    
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     - is out to fab
    
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    ![23board](/images/mkstepper23-routed.png)
    
    
    ![23schematic](/images/mkstepper23-schematic.png)
    
    # Notes on Steppers
    
    Put Pullup * on EN pin to drivers, not step...