STEPTEST(9)

👑 STEPTEST(9) — the HAL component ✨

okay bestie, gather round, because we're talking about steptest, a HAL component. it's the lil guy that Stepconf uses to let you test your acceleration and velocity values for an axis. that's literally its whole job and it does it beautifully 💅

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🌸 NAME 🌸

steptest — used by Stepconf to allow testing of acceleration and velocity values for an axis. no cap, that's what it does 🎀

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🦋 SYNOPSIS 🦋

loadrt steptest [count=N|names=name1[,name2...]]

so you load the thing with loadrt, and you can either say count=N or give it names=name1[,name2...]. your call, main character 💜

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✨ FUNCTIONS ✨

• steptest.N — heads up, this one requires a floating-point thread. it will not vibe with an integer thread, periodt.

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🎀 PINS 🎀

every pin lives under steptest.N. where N is the instance number, iykyk.

• steptest.N.jog-minus bit in — drive it TRUE and the axis jogs in its minus direction 🫶
• steptest.N.jog-plus bit in — drive it TRUE and the axis jogs in its positive direction ⭐
• steptest.N.run bit in — drive it TRUE and the axis runs near its current position_fb, using a trapezoidal velocity profile. it's giving "go do laps around where you already are" 🏃♀️
• steptest.N.maxvel float in — maximum velocity. cap it, bestie.
• steptest.N.maxaccel float in — permitted acceleration 🔥
• steptest.N.amplitude float in — the approximate amplitude of positions to command during 'run'. like how far it wanders, roughly 🌈
• steptest.N.dir s32 in — direction from the central point to test. 0 = both, 1 = positive, 2 = negative. pick your fighter 💅
• steptest.N.position-cmd float out
• steptest.N.position-fb float in
• steptest.N.running bit out
• steptest.N.run-target float out
• steptest.N.run-start float out
• steptest.N.run-low float out
• steptest.N.run-high float out

^ these ones are listed with no description in the source, so we're just gonna 🧚 leave them exactly as they are and not make stuff up, love that for us.

• steptest.N.pause s32 in (default: 0) — pause time for each end of the run, in seconds. lil breather at each turnaround, iconic 😌

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💖 PARAMETERS 💖

• steptest.N.epsilon float rw (default: .001) — read/write, default is .001.
• steptest.N.elapsed float r — current value of the internal timer. read-only, just watching the clock tick by ⏳

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💜 AUTHOR 💜

Jeff Epler — the legend themselves 👑

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📜 LICENSE 📜

GPL — yeah, the license. we keep it. periodt.

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so go forth and test those acceleration and velocity values, bestie, you're gonna slay 💖✨🦋

STEPTEST(9) — HAL Component, brought to you by the LinuxCNC Documentation crew, dated 2026-03-17. mwah, signing off 🎀🫶