stepper-motion 0.1.1

Configuration-driven stepper motor motion control with embedded-hal 1.0 support
Documentation 
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# motion.toml - Example configuration for stepper-motion
# 
# This file demonstrates the full configuration schema for motor control.
# Copy and modify this file for your specific hardware setup.

#═══════════════════════════════════════════════════════════════════════════════
# MOTORS
# Define each motor with its mechanical properties
#═══════════════════════════════════════════════════════════════════════════════

[motors.x_axis]
name = "X-Axis Stepper"           # Human-readable name (max 32 chars)
steps_per_revolution = 200        # Base steps (before microstepping)
microsteps = 16                   # Microstep divisor: 1, 2, 4, 8, 16, 32, 64, 128, 256
gear_ratio = 1.0                  # Output:Input ratio (e.g., 5.0 = 5:1 reduction)
max_velocity_deg_per_sec = 360.0  # Maximum angular velocity
max_acceleration_deg_per_sec2 = 720.0  # Maximum angular acceleration
invert_direction = false          # Swap CW/CCW if motor wired backwards

[motors.x_axis.limits]
min_degrees = -180.0              # Minimum allowed position
max_degrees = 180.0               # Maximum allowed position
policy = "reject"                 # "reject" or "clamp"

[motors.y_axis]
name = "Y-Axis Stepper"
steps_per_revolution = 400        # 0.9° motor
microsteps = 8
gear_ratio = 2.5                  # 2.5:1 gearbox
max_velocity_deg_per_sec = 180.0
max_acceleration_deg_per_sec2 = 360.0
invert_direction = true
backlash_compensation_deg = 0.5   # Compensate 0.5° backlash on reversal

[motors.z_axis]
name = "Z-Axis (Lead Screw)"
steps_per_revolution = 200
microsteps = 32
gear_ratio = 1.0
max_velocity_deg_per_sec = 720.0
max_acceleration_deg_per_sec2 = 1440.0
# No limits defined = unlimited travel

#═══════════════════════════════════════════════════════════════════════════════
# TRAJECTORIES
# Named motion profiles that can be executed by name
#═══════════════════════════════════════════════════════════════════════════════

[trajectories.x_home]
motor = "x_axis"                  # Must match a motor key
target_degrees = 0.0              # Absolute target position
velocity_percent = 50             # 50% of motor's max velocity
acceleration_percent = 100        # 100% of motor's max acceleration

[trajectories.x_work_position]
motor = "x_axis"
target_degrees = 90.0
velocity_percent = 100
acceleration_percent = 80
dwell_ms = 500                    # Wait 500ms after reaching target

# Asymmetric acceleration example: fast start, gentle stop
[trajectories.x_gentle_stop]
motor = "x_axis"
target_degrees = 180.0
velocity_percent = 100
acceleration_deg_per_sec2 = 1000.0   # Fast acceleration (absolute value)
deceleration_deg_per_sec2 = 300.0    # Gentle deceleration (asymmetric)

# Quick stop example: slow start, emergency stop capable
[trajectories.x_emergency_ready]
motor = "x_axis"
target_degrees = 45.0
velocity_percent = 80
acceleration_deg_per_sec2 = 200.0    # Gradual acceleration
deceleration_deg_per_sec2 = 2000.0   # Aggressive deceleration

[trajectories.y_home]
motor = "y_axis"
target_degrees = 0.0
velocity_percent = 30             # Slow homing

[trajectories.z_up]
motor = "z_axis"
target_degrees = 3600.0           # 10 full rotations up
velocity_percent = 100

#═══════════════════════════════════════════════════════════════════════════════
# SEQUENCES (Optional)
# Multi-waypoint trajectories for scanning/inspection patterns
#═══════════════════════════════════════════════════════════════════════════════

[sequences.x_scan]
motor = "x_axis"
waypoints = [0.0, 45.0, 90.0, 135.0, 180.0]  # Visit each position in order
dwell_ms = 1000                   # Wait 1 second at each waypoint
velocity_percent = 50

[sequences.y_calibration]
motor = "y_axis"
waypoints = [-90.0, 0.0, 90.0, 0.0]
dwell_ms = 500
velocity_percent = 25