The documentation of the STEPFOC stepper motor FOC driver by Source Robotics: the manual (safety, technical data, mounting, setup, operation, firmware), the CAN and UART reference, and guides.
Read it at docs.source-robotics.com/STEPFOC-docs.
The firmware and hardware files are in Source-Robotics/STEPFOC-stepper-controller.
docs/ |
the pages: the manual chapters at the top level, reference/, guides/, support/, appendix/ |
docs/includes/ |
text shared by pages (glossary, symbols, abbreviations) and the data the reference pages are built from |
docs/includes/can_commands.yml, uart_commands.yml |
the hand-written descriptions of every CAN message and UART command |
docs/includes/generated/ |
written by tools/sync_firmware.py from the firmware's release tag: firmware_facts.json, firmware_release_notes.md. Never edit |
versions.yml |
every version fact: the firmware release the site describes, the manual's number and revision |
compatibility.yml |
which firmware release works with which bootloader, Python library, PAR6 runtime and board |
hooks/ |
versions.py writes the version facts into the pages; firmware_pages.py builds the reference pages; llms.py writes the Markdown twin of every page, llms.txt and llms-full.txt |
tools/ |
sync_firmware.py, test_tools.py, make_stubs.py, root_404.html |
overrides/ |
the theme changes: the older-version banner, the edit/report line, the header's repository card |
The site is built with MkDocs and the Material for MkDocs theme, in the same form as the PAR6 documentation.
You need Python 3.11 or newer.
git clone https://github.com/Source-Robotics/STEPFOC-docs.git
cd STEPFOC-docs
python -m venv .venv
.venv/Scripts/pip install -r requirements.txt # Linux and macOS: .venv/bin/pip
mkdocs serveOpen http://127.0.0.1:8000/STEPFOC-docs/. The page reloads by itself when you save a file.
Every push and pull request runs python tools/test_tools.py and mkdocs build --strict, which fails on a broken
link or a missing page. Run both before you open a pull request.
The command IDs, the frame lengths the firmware accepts, the responses it sends, the list of UART commands with
their kind, argument type, the mode they enter and what they print, and the defaults are read from the firmware's
source at its release tag by tools/sync_firmware.py, never from uncommitted work. The descriptions, units and
byte layouts are written by hand in docs/includes/can_commands.yml and uart_commands.yml. The build fails when
the two disagree: a command the firmware has and the descriptions lack, or the other way round, or a byte layout
that does not fit the frame.
python tools/sync_firmware.py # write docs/includes/generated/ from firmware.tag in versions.yml
python tools/sync_firmware.py --check # exit 1 if they are out of date
python tools/sync_firmware.py --print uart --tag V103 # look at another release's commandsThe tool needs a clone of the firmware repository with its tags, next to this repository or named by
--firmware PATH / FIRMWARE_DIR, and the network for the release notes (--no-network keeps the file
that is there). The CI build does not run it; the generated files are committed.
tools/build_model.py --step PATH builds docs/assets/models/stepfoc/ from the board's STEP file (the PCB and
everything mounted on it, tessellated and decimated for the web); it runs in the workspace's .venv-cad
environment, which has cadquery's Open CASCADE kernel. The landing and dimensions pages show the model in
docs/javascripts/gripper-viewer.js (the gripper sites' viewer; three.js from a CDN through the import map in
overrides/main.html, loaded only on those pages). Run the tool again when the STEP file changes.
hooks/llms.py writes, at every build, a Markdown twin of every page next to its HTML (…/index.md), llms.txt
(an index of the twins by tab) and llms-full.txt (every page in one file), with links pinned to the documented release (including when publishing with mike). The "Copy this page as Markdown" button in the page header reads the twin.
The "Last update" date under every page comes from the git-revision-date-localized plugin (the page's last
commit; the CI checks out the whole history for it). The calculator on Control modes is
docs/javascripts/units-calculator.js; the diagrams on the pages are Mermaid blocks in the Markdown.
The "Was this page helpful?" widget at the end of every page is configured under extra.analytics.feedback.
With provider: google (the Google Analytics property all the docs sites share, loaded only after the reader
accepts the cookie banner of extra.consent), Material's own integration records the page views and sends each
vote as an event named feedback.
Comments under every page come from Giscus, wired in overrides/partials/comments.html and configured under
extra.comments: all the docs sites share one Discussions home, the hub repository
Source-Robotics/source-robotics.github.io, with one thread per site and page. A page opts out with
comments: false in its front matter (the landing page does).
The print-site plugin (the last plugin in mkdocs.yml) builds one page with every chapter in order, a cover and
a table of contents, at print_page/. hooks/pdf.py prints that page to site/assets/STEPFOC-manual.pdf with headless
Chrome when the environment variable DOCS_PDF is set, which the publish workflow does; a local build sets it on
demand (DOCS_PDF=1 mkdocs build). While the hook is on, the page-help line of every page links the PDF.
Each release of the STEPFOC firmware has its own version of the documentation, named after the release: 103,
108, ... The version selector in the site's header switches between them, and a page of an older version says so
in a bar at the top. The versions are built with mike and kept in the
gh-pages branch; latest points at the newest.
All version facts live in versions.yml, never in a page: docs_version (the firmware release these pages
describe, which is also the name the version is published under), firmware.tag (V + docs_version), and the
manual's number, title, revision, status and publication date. hooks/versions.py writes them into the version
box on the landing page and into the list of documents on the About page; a malformed or missing fact stops the
build.
- Set
docs_versionandfirmware.taginversions.yml; add a row tocompatibility.yml. - Run
python tools/sync_firmware.py. If the firmware added or removed a command, the build now fails untilcan_commands.yml/uart_commands.ymldescribe it: write the description. - Update the pages for what changed, using the release notes; give the manual a new revision letter in
versions.ymland a line in its Document history ondocs/about.md. - Commit and push to
main. The site publishes the new version,latestmoves to it, and the previous version stays as it was.
.github/workflows/publish.yml publishes on every push to main: the tests, a strict build, then mike deploy
for docs_version with the alias latest. In the repository's Settings, under Pages, the source must be "Deploy
from a branch", branch gh-pages, folder / (root). Never run mkdocs gh-deploy on this repository: it would
overwrite every version mike keeps there.
The root of gh-pages also carries 404.html (source: tools/root_404.html). It forwards addresses from before
the versioning, such as /STEPFOC-docs/can/, to the same page under latest/, where the redirects plugin in
mkdocs.yml maps the old page names to the new pages. To preview the published versions locally, with the version
selector, run mike serve.
The site is served at https://docs.source-robotics.com/STEPFOC-docs/: the organisation's docs domain plus this
repository's name. Never rename this repository (its address would change and GitHub does not forward the old one),
and never add a CNAME file or a custom domain to it (that would take it out of the shared domain).
- Text and images: Creative Commons Attribution-ShareAlike 4.0, see LICENSE. You may copy, adapt and share them, also commercially, if you credit Source Robotics and share your changes under the same license.
- Code: the MIT license. This covers the code examples in the pages and the site's own code (hooks, tools, overrides, scripts), so you can use an example in your own program without other conditions.
- Names and logos: the Source Robotics name, the product names and the logos are not covered by either license.
By contributing you agree that your contribution is published under these licenses.
A small fix can be made from the browser: every page ends with a link to edit it on GitHub. For anything larger, open an issue first, then a pull request. The Contributing page on the site has the house rules. Questions about the driver itself go to the firmware repository's issue tracker.
python tools/test_site_features.py checks release-pinned Markdown asset links, the prefilled issue body,
and the syntax of Python examples without running them or connecting to hardware. The CI build runs it.
hooks/can_tools.py generates the firmware-specific JSON/DBC downloads and the CAN frame tool from the
same can_commands.yml and tagged firmware facts as the reference. Keep the hook, browser codec and tests
in step across the four driver/gripper sites. The gripper status pair marks bit_order: lsb_first explicitly;
do not replace it with normal big-endian bit ordering.
Run python tools/test_can_tools.py for the schema, DBC and known wire vectors (Node.js runs the browser codec
without a browser). With cantools==40.7.1 installed, it also loads and decodes the DBC independently; the
CI build installs this test dependency. DBC cannot select a command layout from its DLC, so the driver sites
ship separate position, velocity and current files. Never merge those into a single invented wire layout.
Motor GUI screenshots under docs/assets/motor-gui/ were captured from the live tool on 2026-10-31.
The captions distinguish the real connection screen from simulated CAN hardware. Numbered annotations
are HTML/CSS over the original capture; refresh the captures and captions when the controls change.