Arguments: Steps to Make, int32_t | Entry Speed, steps/s, uint32_t | Acceleration Rate, steps/s/s, uint32_t | Acceleration Length, steps to accelerate for, uint32_t | Decceleration Length, steps to deccelerate after, uint32_t
Returns: Steps Made, int32_t | on step completion
- the stepper will load this block into its stepping buffer, and if the buffer is empty will execute the trapezoid. on it's completion, the stepper will reply with an acknowledgement
