Deterministic motor step sequence

Firmware flow

How the step pulse sequence runs

Selected motor step-pulse loop.

For each requested step, raise the step pin, wait for the pulse interval, lower it and wait for the configured low interval. Repeat until the requested count is reached.

There is no acceleration profile, position feedback or measured timing guarantee in this excerpt. The high-pulse delay and low-period delay are separate, so the total cycle includes both.

  for (long i = 0; i < steps; i++) {
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(STEP_PULSE_US);
    digitalWrite(STEP_PIN, LOW);
    // Keep overall step rate controlled:
    delayMicroseconds(STEP_PERIOD_US);
  }