To keep these methods efficient no member should be accessed away.
That's the reason MotorParams is passed explicitly for each.
Mark all stepping methods as static.
Change the TMC2130 class after starting to review the Motion API.
Move motor mode handling and stepping to this module.
Create a new MotorParams class for compile-time settings (currently
pins, direction, microstepping).
Keep other settings separate, so that we can pass constexpr expressions
while stepping and still get 1 instruction without overhead.
Alex Voinea
Yuri D'Elia
D.R.racer