any chance of adding VACTUAL?
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szym1998 commented
W 0x22 24 VACTUAL
VACTUAL allows moving the motor by UART control.
It gives the motor velocity in +-(2^23)-1 [µsteps / t]
0: Normal operation. Driver reacts to STEP input.
/=0: Motor moves with the velocity given by VACTUAL. Step
pulses can be monitored via INDEX output. The motor
direction is controlled by the sign of VACTUAL.