v0.1.0 - Initial Release

stepper-motion v0.1.0

Initial release of the configuration-driven stepper motor motion control library.

Features

Configuration System

• TOML-based configuration for motors, trajectories, and sequences
• SystemConfig root structure with named motor and trajectory maps
• MotorConfig with steps/rev, microsteps, gear ratio, and limits
• TrajectoryConfig with target position and motion parameters
• SoftLimits with reject and clamp policies

Motor Control

• StepperMotor driver generic over embedded-hal 1.0 OutputPin and DelayNs
• Type-state pattern for compile-time state safety: Idle, Moving, Homing, Fault
• Builder pattern with StepperMotorBuilder
• Absolute position tracking in i64 steps
• Backlash compensation support

Motion Profiles

• Asymmetric trapezoidal motion with independent acceleration/deceleration rates
• MotionProfile struct with phase breakdown (accel, cruise, decel)
• Duration estimation and step interval calculation

Multi-Motor Management

• MotorSystem facade for managing multiple motors
• TrajectoryRegistry for named trajectory lookup
• get_or_error() with helpful error messages

Platform Support

• no_std compatible core library
• std feature for file I/O and TOML loading
• alloc feature for heap allocation without full std
• Minimum Rust version: 1.70.0

Installation

[dependencies]
stepper-motion = "0.1"

Documentation

• API Documentation
• README