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[WIP] PIO stepper 2-pin driver support#5690

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GrbavaCigla wants to merge 3 commits intoembassy-rs:mainfrom
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[WIP] PIO stepper 2-pin driver support#5690
GrbavaCigla wants to merge 3 commits intoembassy-rs:mainfrom
GrbavaCigla:main

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@GrbavaCigla
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Comment on lines -11 to +12
pub mod stepper;
pub mod stepper4;
pub mod stepper2;
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Bit of a nitpick, but I think these names need to be more descriptive. Perhaps Stepper4 -> StepperPhases and Stepper2 -> StepDir?

@GrbavaCigla
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GrbavaCigla commented Mar 26, 2026

I’ve added a generic AccMode trait to the Stepper struct, with NoAcc and WithAcc<C: Channel> implementing that trait. I also made several fixes and tested everything with both trapezoidal and S-curve acceleration.

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2 participants