Laurentiu Badea

Looks like it should be possible, the docs are at https://www.trinamic.com/products/integrated-circuits/details/tmc2100/

Most likely not, the control wires are different even if the carrier might be the same. A4988 has three microstep pins (MS1, MS2, MS3), the TMC2100 has two (CFG1, CFG2)...

This is a limitation of this simple library. This library precalculates the expensive acceleration parameters before the move. To change speed on-the-fly it would have to do so between steps,...

If the movement is complex and the project can afford an additional 328, you could load [GRBL](https://github.com/gnea/grbl) (the CNC control language that 3D printers also use) and send G-code commands...

What processor are you using ? wifi or bluetooth processing may preempt the main program on chips supporting those, especially single core with the stack implemented on the same cpu.

The movement is based on step counter, so it will send the exact number of pulses requested, which translates most of the time to the same number of motor steps....

Teensy has IntervalTimer, example: https://www.pjrc.com/teensy/td_timing_IntervalTimer.html

The fledge auction config is passed out-of-band with respect to the bids (or no bids), it does not contain bid information but rather a specially crafted bid request reflected back...

@dgirardi your proposal looks reasonable, I would go even further and raise the field one level, to `ext.fledge`, as it is not really a prebid extension.

@dgirardi If `ext.fledge` is used, there should be room left for other things we might want to add in the future under this category. So - `ext.fledge.auctionconfigs[{impid, bidder, config}]` ```...