nx_robot_step.nx

nx_robot_step.nx -- SOVEREIGN multi-axis stepper STEP GENERATION (the actuation primitive that drives a real robot/printer/CNC/sensor-gantry). This is the rung nx_motion_plan.nx explicitly flagged as NEXT ("multi-axis ... step-pulse table for the MCU ISR"): given a synchronized move as per-axis signed step counts, emit the exact pulse train each axis must send so all axes arrive together. Pure integer Bresenham/DDA -- NO FLOAT (this is WHY steppers are driven this way: a motor takes discrete steps, the math is inherently integer). The dominant axis pulses every tick; minor axes are Bresenham-distributed so each axis i emits EXACTLY |delta[i]| pulses, evenly. This is the SAME math the printer (which the operator cited as the proof) runs, generalized to any N-axis machine -> "output to real robots we can build", in Nishi. NEVER-BRICK (#26): this emits a pulse PLAN (pure data); the real GPIO/STEP-pin write is a separate driver that must be fail-safe by construction (bounded rate, watchdog, safe-state-on-fault). license_tier: ORIGINAL expect_exit: 0