List every motor on the RS-485 bus with its alias and current position.

Call this FIRST in any session to discover what is connected before issuing moves.

Move one motor to an ABSOLUTE angle in degrees (closed-loop, won't lose steps).

Use when the user names a target position ("go to 90 degrees", "point straight up"). The target is clamped to the motor's configured software limits; any clamp is reported in safety_notes. speed is degrees/second (optional).

Nudge one motor by a RELATIVE amount in degrees (+ / -).

Use for "turn a bit more", "back off 10 degrees", or incremental jogging. The move is clamped so the resulting absolute position stays within software limits.

Move to an absolute angle with smooth acceleration/deceleration over duration_s.

Prefer this over move_to for arms, plotters, or anything where a sudden move would jerk the mechanism. Good for choreographed motion.

Run homing on one motor, or ALL motors if motor is omitted.

Call at the start of a build, or when the user says "home", "reset", or "go to zero".

Report position, motion state, voltage, and any error for one motor or all motors.

Call after a move to CONFIRM it completed, or when the user asks "where is it / what's its state".

Immediately halt motion on one motor, or ALL motors if omitted.

Use for "stop", "halt", "cancel", or any sign something is wrong. Always available.

Recover a motor from a latched fault by issuing a firmware system reset (reboots ~2s).

Call when get_status reports an error the motor won't clear on its own. The motor returns to a clean, idle state afterward. Omit motor to reset all.

Execute a choreographed sequence of moves, e.g. to "draw a square" or "wave".

Each step is one of: {"action": "move_to", "motor": "x", "degrees": 90, "speed": 120} {"action": "move_relative", "motor": "y", "degrees": -30} {"action": "trapezoid_move", "motor": "z", "degrees": 45, "duration_s": 1.5} {"action": "home", "motor": "x"} # motor optional -> all {"action": "stop"} # motor optional -> all

Steps run in order; each is individually safety-checked and clamped. Returns the final state of every motor plus any safety notes that fired. Engine lives in sequencer.py (pure, unit- and hardware-tested without the MCP SDK).