FireStep is an Arduino stepper library for FirePick Delta. FireStep responds to JSON requests written in a flexible query-by-example interaction style inspired by TinyG.
FireStep is designed to work with Pythagorean Hodograph Quintic Curves (PH5Curve), which are smooth, polynomial paths defined by on-path control points. FireStep also implements PHFeed, which controls feed acceleration continuously during path traversal, providing smooth motion.