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Introduction

This library is for controlling stepper motors with AVR chips through the Arduino Build system. Although the code is useful for a variety of boards including but not limited to 3D printer controller boards, GRBL boards, and custom configurations. It's designed to be reusable and flexible and leverage the full power of stepper motors. The library has a combination of base code as well as some robot and board specific firmware. The primary test target of the board has been the KiP Dev Board, KiP 3.3, and a board developed as a hat for the HPE S.T.E.M. Compute Board featuring an ESP32. The purpose of this software is to do all of the heavy lifting of stepper motor control. It takes care of calculating and controlling the pulse timing for step and direction of each stepper driver module. It includes control over the sleep and micro-stepping functionality of the stepper driver carrier. The controller on a basic level allows the programmer to configure speeds and positioning of the stepper motors. This branches out into more advanced features that are currently in development including motor spline path motion profiling with all of the path interpolation and kinematics taken care of by the library.

Currently, the source is composed of the following classes and purposes:

• DevBoardLayout.h - pre-configures stepper motors for KiP Dev Board pinout
• KiP.h - single header file encapsulates the functions for the HPE Compute Board.
• MotionProfile.h - includes all of the experimental code for motion profile definitions
• StepperController.h - all simple motor control functionality

Board agnostic motor control documentation lives in the Software section.

Documentation pertaining to the latest revision of the AVR KiP board, KiP 3.3, is in the Hardware section.