Crate stepper_motion 

stepper-motion

Configuration-driven stepper motor motion control with embedded-hal 1.0 support.

Features

• Configuration-driven: Define motors and trajectories in TOML files
• embedded-hal 1.0: Uses OutputPin for STEP/DIR, DelayNs for timing
• no_std compatible: Core library works without standard library
• Asymmetric profiles: Independent acceleration and deceleration rates
• Position tracking: Absolute position tracked at all times
• Type-state safety: Compile-time motor state verification

Quick Start

use stepper_motion::{StepperMotor, SystemConfig};

// Load configuration from TOML
let config: SystemConfig = stepper_motion::load_config("motion.toml")?;

// Create motor with embedded-hal pins
let mut motor = StepperMotor::builder()
    .from_config(&config, "x_axis")?
    .step_pin(step_pin)
    .dir_pin(dir_pin)
    .delay(delay)
    .build()?;

// Execute named trajectory
motor.execute("home")?;

Feature Flags

• std (default): Enables file I/O and TOML parsing
• alloc: Enables heap allocation for no_std with allocator
• defmt: Enables defmt logging for embedded targets

Re-exports

pub use config::MotorConfig;

pub use config::SystemConfig;

pub use config::TrajectoryConfig;

pub use config::validate_config;

pub use error::Error;

pub use error::Result;

pub use motion::Direction;

pub use motion::MotionPhase;

pub use motion::MotionProfile;

pub use motor::state;

pub use motor::MotorSystem;

pub use motor::StepperMotor;

pub use trajectory::TrajectoryRegistry;

pub use config::load_config;

pub use config::units::Degrees;

pub use config::units::DegreesPerSec;

pub use config::units::DegreesPerSecSquared;

pub use config::units::Microsteps;

pub use config::units::Steps;

Modules

config

Configuration module for stepper-motion.

error

Error types for stepper-motion library.

motion

Motion module for stepper-motion.

motor

Motor module for stepper-motion.

trajectory

Trajectory module for stepper-motion.