# MachineKit Stepper Driver  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   ## MKStepper23 - is out to fab  