High performance motor control
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error — Error readwrite
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step_dir_active — bool readonly
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current_state — AxisState readonly
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requested_state — AxisState readwrite
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loop_counter — uint32 readonly
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lockin_state — LockinState readonly
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config — Config
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fet_thermistor — OnboardThermistorCurrentLimiter
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motor_thermistor — OffboardThermistorCurrentLimiter
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motor — Motor
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controller — Controller
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encoder — Encoder
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sensorless_estimator — SensorlessEstimator
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trap_traj — TrapezoidalTrajectory
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min_endstop — Endstop
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max_endstop — Endstop
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Feed the watchdog to prevent watchdog timeouts.
Check the watchdog timer for expiration. Also sets the watchdog error bit if expired.