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[ARP ACK/NACK] Explicit ACK/NACK checking that command is forwarded to steppers

Nicolò Caruso requested to merge arp-sm-ack-nack-dev into arp-sm-integration

Now there are explicit ACK / NACK that checks that the command is forwarded to the steppers and checks that the stepper are enabled. As for now, they do not really check the movement but checks that the the command is correctly forwarded to the steppers (ACK) or not (NACK)

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