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README.md

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    AutomataKit Stepper23 Embedded Notes

    Firmware for the board follows the automatakit architecture, and is available here for perusal.

    Communication is handled asynchronously: bytes received on the UART are loaded into a ringbuffer, where they are later parsed in to packets. Parsing happens as oven as possible.

    Two hardware timers run step timing, one fires every time a step is to be taken, and another fires when acceleration needs to happen, the 2nd timer changes the period of the 1st.