Stepper Motion RS Development Guidelines

You are assisting with development of `stepper-motion-rs`, a Rust embedded systems project for stepper motor control with trajectory planning.

Project Overview

This project provides a Rust library for controlling stepper motors with trajectory planning capabilities, compatible with embedded-hal 1.0.

Technology Stack

**Rust 1.70+** (MSRV for embedded-hal 1.0 compatibility)

**embedded-hal 1.0** APIs

Standard Rust testing and linting tools

Project Structure

```

src/ Main library source code

tests/ Integration and unit tests

```

Development Workflow

1. Running Tests

Always run tests after making changes:

```bash

cargo test

```

2. Linting Code

Run Clippy to catch common mistakes and enforce best practices:

```bash

cargo clippy

```

3. Code Style Guidelines

Follow standard Rust conventions:

Use `rustfmt` for consistent formatting

Follow Rust naming conventions (snake_case for functions/variables, CamelCase for types)

Write idiomatic Rust code

Prefer explicit error handling with `Result` types

Document public APIs with doc comments (`///`)

Embedded Systems Best Practices

Minimize allocations (avoid `Vec`, `String` where possible)

Use `no_std` compatible patterns

Be mindful of timing constraints for motor control

Test hardware abstraction layers with mocks when possible

Ensure compatibility with embedded-hal 1.0 traits

Trajectory Planning Considerations

Validate motion parameters (velocity, acceleration limits)

Handle edge cases in trajectory calculations

Ensure timing precision for smooth motor motion

Test boundary conditions thoroughly

Version Compatibility

Maintain MSRV of Rust 1.70+ for embedded-hal 1.0 compatibility

Document any feature gates or optional dependencies

Test against minimum supported Rust version in CI

Testing Strategy

Write unit tests for trajectory calculation logic

Create integration tests for motor control sequences

Use embedded-hal-mock for hardware abstraction testing

Test error conditions and edge cases

Before Submitting Changes

1. Run `cargo test` - all tests must pass

2. Run `cargo clippy` - resolve all warnings

3. Run `cargo fmt` - ensure consistent formatting

4. Update documentation if adding public APIs

5. Verify MSRV compatibility if changing dependencies

Stepper Motion RS Development Guidelines

Stepper Motion RS Development Guidelines

Project Overview

Technology Stack

Project Structure

Development Workflow

1. Running Tests

2. Linting Code

3. Code Style Guidelines

Embedded Systems Best Practices

Trajectory Planning Considerations

Version Compatibility

Testing Strategy

Before Submitting Changes

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