diff --git a/src/Extensions/HarpStepperDriverGetMetadata.bonsai b/src/Extensions/HarpStepperDriverGetMetadata.bonsai
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--- a/src/Extensions/HarpStepperDriverGetMetadata.bonsai
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@@ -1,812 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<WorkflowBuilder Version="2.9.0"
-                 xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
-                 xmlns:rx="clr-namespace:Bonsai.Reactive;assembly=Bonsai.Core"
-                 xmlns="https://bonsai-rx.org/2018/workflow">
-  <Workflow>
-    <Nodes>
-      <Expression xsi:type="Combinator">
-        <Combinator xsi:type="StringProperty">
-          <Value>%YAML 1.1
----
-# yaml-language-server: $schema=https://harp-tech.org/draft-02/schema/device.json
-device: StepperDriver
-whoAmI: 1130
-firmwareVersion: "0.7"
-hardwareTargets: "1.0"
-registers:
-  ##################################
-  # Enable and disable
-  ##################################
-  EnableDriver:
-    address: 32
-    type: U8
-    access: Write
-    maskType: StepperMotors
-    description: Enables the driver for a specific motor. If the driver is already enabled, the driver remains enabled.
-  DisableDriver:
-    address: 33
-    type: U8
-    access: Write
-    maskType: StepperMotors
-    description: Disables the driver for a specific stepper motor, which prevents current from being sent to the motor or load. If the driver is already disabled, the driver remains disabled.
-  EnableEncoders:
-    address: 34
-    type: U8
-    access: Write
-    maskType: QuadratureEncoders
-    description: Specifies a set of port quadrature counters to enable in the device.
-  DisableEncoders:
-    address: 35
-    type: U8
-    access: Write
-    maskType: QuadratureEncoders
-    description: Specifies a set of port quadrature counters to disable in the device.
-  EnableDigitalInputs:
-    address: 36
-    type: U8
-    access: Write
-    maskType: DigitalInputs
-    description: Specifies a set of digital inputs to enable in the device.
-  DisableDigitalInputs:
-    address: 37
-    type: U8
-    access: Write
-    maskType: DigitalInputs
-    description: Specifies a set of digital inputs to disable in the device.
-
-  ##################################
-  # Configuration
-  ##################################
-  Motor0OperationMode: &amp;opmode
-    address: 38
-    type: U8
-    access: Write
-    maskType: MotorOperationMode
-    description: Configures the operation mode for motor 0.
-  Motor1OperationMode:
-    &lt;&lt;: *opmode
-    address: 39
-    description: Configures the operation mode for motor 1.
-  Motor2OperationMode:
-    &lt;&lt;: *opmode
-    address: 40
-    description: Configures the operation mode for motor 2.
-  Motor3OperationMode:
-    &lt;&lt;: *opmode
-    address: 41
-    description: Configures the operation mode for motor 3.
-  Motor0MicrostepResolution: &amp;microstep_resolution
-    address: 42
-    type: U8
-    access: Write
-    maskType: MicrostepResolution
-    description: Configures the microstep resolution for motor 0.
-  Motor1MicrostepResolution:
-    &lt;&lt;: *microstep_resolution
-    address: 43
-    description: Configures the microstep resolution for motor 1.
-  Motor2MicrostepResolution:
-    &lt;&lt;: *microstep_resolution
-    address: 44
-    description: Configures the microstep resolution for motor 2.
-  Motor3MicrostepResolution:
-    &lt;&lt;: *microstep_resolution
-    address: 45
-    description: Configures the microstep resolution for motor 3.
-
-  Motor0MaximumRunCurrent: &amp;maxcurrent
-    address: 46
-    minValue: 0.139
-    maxValue: 2.1
-    defaultValue: 0.2
-    type: Float
-    access: Write
-    description: Configures the maximum run RMS current per phase for motor 0.
-  Motor1MaximumRunCurrent:
-    &lt;&lt;: *maxcurrent
-    address: 47
-    description: Configures the maximum run RMS current per phase for motor 1.
-  Motor2MaximumRunCurrent:
-    &lt;&lt;: *maxcurrent
-    address: 48
-    description: Configures the maximum run RMS current per phase for motor 2.
-  Motor3MaximumRunCurrent:
-    &lt;&lt;: *maxcurrent
-    address: 49
-    description: Configures the maximum run RMS current per phase for motor 3.
-
-  Motor0HoldCurrentReduction: &amp;currentreduction
-    address: 50
-    type: U8
-    access: Write
-    maskType: HoldCurrentReduction
-    description: Configures the hold current reduction for motor 0.
-  Motor1HoldCurrentReduction:
-    &lt;&lt;: *currentreduction
-    address: 51
-    description: Configures the hold current reduction for motor 1.
-  Motor2HoldCurrentReduction:
-    &lt;&lt;: *currentreduction
-    address: 52
-    description: Configures the hold current reduction for motor 2.
-  Motor3HoldCurrentReduction:
-    &lt;&lt;: *currentreduction
-    address: 53
-    description: Configures the hold current reduction for motor 3.
-
-  Motor0StepInterval: &amp;nominalinterval
-    address: 54
-    minValue: 100
-    maxValue: 20000
-    defaultValue: 250
-    type: U16
-    access: Write
-    description: Configures the time between step motor pulses (us) when running at nominal speed for motor 0.
-  Motor1StepInterval:
-    &lt;&lt;: *nominalinterval
-    address: 55
-    description: Configures the time between step motor pulses (us) when running at nominal speed for motor 1.
-  Motor2StepInterval:
-    &lt;&lt;: *nominalinterval
-    address: 56
-    description: Configures the time between step motor pulses (us) when running at nominal speed for motor 2.
-  Motor3StepInterval:
-    &lt;&lt;: *nominalinterval
-    address: 57
-    description: Configures the time between step motor pulses (us) when running at nominal speed for motor 3.
-
-  Motor0MaximumStepInterval: &amp;maxinterval
-    address: 58
-    minValue: 100
-    maxValue: 20000
-    defaultValue: 2000
-    type: U16
-    access: Write
-    description: Configures the time between step motor pulses (us) used when starting or stopping a movement for motor 0.
-  Motor1MaximumStepInterval:
-    &lt;&lt;: *maxinterval
-    address: 59
-    description: Configures the time between step motor pulses (us) used when starting or stopping a movement for motor 1.
-  Motor2MaximumStepInterval:
-    &lt;&lt;: *maxinterval
-    address: 60
-    description: Configures the time between step motor pulses (us) used when starting or stopping a movement for motor 2.
-  Motor3MaximumStepInterval:
-    &lt;&lt;: *maxinterval
-    address: 61
-    description: Configures the time between step motor pulses (us) used when starting or stopping a movement for motor 3.
-
-  Motor0StepAccelerationInterval: &amp;accperiod
-    address: 62
-    minValue: 2
-    maxValue: 2000
-    defaultValue: 10
-    type: U16
-    access: Write
-    description: Configures the acceleration for motor 0. The time between step pulses is decreased by this value when accelerating and increased when decelerating.
-  Motor1StepAccelerationInterval:
-    &lt;&lt;: *accperiod
-    address: 63
-    description: Configures the acceleration for motor 1. The time between step pulses is decreased by this value when accelerating and increased when decelerating.
-  Motor2StepAccelerationInterval:
-    &lt;&lt;: *accperiod
-    address: 64
-    description: Configures the acceleration for motor 2. The time between step pulses is decreased by this value when accelerating and increased when decelerating.
-  Motor3StepAccelerationInterval:
-    &lt;&lt;: *accperiod
-    address: 65
-    description: Configures the acceleration for motor 3. The time between step pulses is decreased by this value when accelerating and increased when decelerating.
-
-  EncoderMode:
-    address: 66
-    type: U8
-    access: Write
-    maskType: EncoderModeConfig
-    description: Configures the operation mode of the quadrature encoder.
-  EncoderSamplingRate:
-    address: 67
-    type: U8
-    access: Write
-    maskType: EncoderSamplingRateConfig
-    description: Configures the sampling rate of the quadrature encoder event.
-
-  Input0OpMode: &amp;input_mode
-    address: 68
-    type: U8
-    access: Write
-    maskType: InputOpModeConfig
-    description: Configures the operation mode for digital input 0.
-  Input1OpMode:
-    &lt;&lt;: *input_mode
-    address: 69
-    description: Configures the operation mode for digital input 1.
-  Input2OpMode:
-    &lt;&lt;: *input_mode
-    address: 70
-    description: Configures the operation mode for digital input 2.
-  Input3OpMode:
-    &lt;&lt;: *input_mode
-    address: 71
-    description: Configures the operation mode for digital input 3.
-
-  InterlockEnabled:
-    address: 72
-    type: U8
-    access: Write
-    maskType: InterlockEnabledConfig
-    description: Configures the external interlock connector state required for the device to be enabled.
-
-  AccumulatedStepsSamplingRate:
-    address: 73
-    type: U8
-    access: Write
-    maskType: AccumulatedStepsSamplingRateConfig
-    description: Configures the dispatch rate of the accumulated steps event.
-
-  ##################################
-  # Events
-  ##################################
-  MotorStopped:
-    address: 74
-    type: U8
-    access: Event
-    description: Emitted when any of the motors stops.
-    payloadSpec:
-      State:
-        description: Specifies which motors are currently stopped.
-        maskType: StepperMotors
-        mask: 0x0F
-      Changed:
-        description: Specifies which motor just stopped.
-        maskType: StepperMotors
-        mask: 0xF0
-  MotorOverVoltageDetection:
-    address: 75
-    type: U8
-    access: Event
-    maskType: StepperMotors
-    description: Contains a bit mask specifying the motor where the over voltage detection and protection mechanism occurred, which can happen when the there's a quick deceleration from a high velocity or when the motor stalls (not implemented).
-  MotorRaisedError:
-    address: 76
-    type: U8
-    access: Event
-    maskType: StepperMotors
-    description: Contains a bit mask specifying the motor that triggered the error which can be happen in case of short-circuit or driver temperature above 165 degrees celsius.
-
-  Encoders:
-    address: 77
-    type: S16
-    length: 3
-    access: [Event, Write]
-    description: Contains the quadrature encoder readings.
-    payloadSpec:
-      Encoder0:
-        offset: 0
-        description: The quadrature counter on port ENC 0.
-      Encoder1:
-        offset: 1
-        description: The quadrature counter on port ENC 1.
-      Encoder2:
-        offset: 2
-        description: The quadrature counter on port ENC 2.
-
-  DigitalInputState:
-    address: 78
-    access: Event
-    type: U8
-    maskType: DigitalInputStates
-    description: Reflects the state of the digital input lines.
-
-  DeviceState:
-    address: 79
-    type: U8
-    access: Event
-    maskType: DeviceStateMode
-    description: Contains the state of the device.
-
-  ##################################
-  # Movement control
-  ##################################
-
-  MoveRelative:
-    address: 80
-    type: S32
-    length: 4
-    access: Write
-    description: Moves all motors by the number of steps written in this array register and set the direction according to the value's signal. If a motor is disable, the user should set the value to 0.
-    payloadSpec:
-      Motor0:
-        offset: 0
-        description: Contains the number of steps used to move motor 0.
-      Motor1:
-        offset: 1
-        description: Contains the number of steps used to move motor 1.
-      Motor2:
-        offset: 2
-        description: Contains the number of steps used to move motor 2.
-      Motor3:
-        offset: 3
-        description: Contains the number of steps used to move motor 3.
-
-  Motor0MoveRelative: &amp;motorsteps
-    address: 81
-    type: S32
-    access: Write
-    description: Moves motor 0 by the number of steps written in this register and set the direction according to the value's signal.
-  Motor1MoveRelative:
-    &lt;&lt;: *motorsteps
-    address: 82
-    description: Moves motor 1 by the number of steps written in this register and set the direction according to the value's signal.
-  Motor2MoveRelative:
-    &lt;&lt;: *motorsteps
-    address: 83
-    description: Moves motor 2 by the number of steps written in this register and set the direction according to the value's signal.
-  Motor3MoveRelative:
-    &lt;&lt;: *motorsteps
-    address: 84
-    description: Moves motor 3 by the number of steps written in this register and set the direction according to the value's signal.
-
-  MoveAbsolute:
-    address: 85
-    type: S32
-    length: 4
-    access: Write
-    description: Moves all motors to the absolute position written in this array register. If a motor is disable, the user should set the value to 0.
-    payloadSpec:
-      Motor0:
-        offset: 0
-        description: Contains the absolute position to move motor 0.
-      Motor1:
-        offset: 1
-        description: Contains the absolute position to move motor 1.
-      Motor2:
-        offset: 2
-        description: Contains the absolute position to move motor 2.
-      Motor3:
-        offset: 3
-        description: Contains the absolute position to move motor 3.
-
-  Motor0MoveAbsolute: &amp;motorabsolutesteps
-    address: 86
-    type: S32
-    access: Write
-    description: Moves motor 0 to the absolute position written in this register.
-  Motor1MoveAbsolute:
-    &lt;&lt;: *motorabsolutesteps
-    address: 87
-    description: Moves motor 1 to the absolute position written in this register.
-  Motor2MoveAbsolute:
-    &lt;&lt;: *motorabsolutesteps
-    address: 88
-    description: Moves motor 2 to the absolute position written in this register.
-  Motor3MoveAbsolute:
-    &lt;&lt;: *motorabsolutesteps
-    address: 89
-    description: Moves motor 3 to the absolute position written in this register.
-
-  AccumulatedSteps:
-    address: 90
-    type: S32
-    length: 4
-    access: [Event, Write]
-    description: Contains the accumulated steps of all motors. Write a value to set the accumulated steps. An event will be emitted with a dispatch rate defined in AccumulatedStepsSamplingRate.
-    payloadSpec:
-      Motor0:
-        offset: 0
-        description: Contains the accumulated steps of motor 0.
-      Motor1:
-        offset: 1
-        description: Contains the accumulated steps of motor 1.
-      Motor2:
-        offset: 2
-        description: Contains the accumulated steps of motor 2.
-      Motor3:
-        offset: 3
-        description: Contains the accumulated steps of motor 3.
-
-  Mortor0AccumulatedSteps: &amp;motorsaccumulatedsteps
-    address: 91
-    type: S32
-    access: Write
-    description: Contains the accumulated number of steps of motor 0. Write a value to set the current number of accumulated steps.
-  Mortor1AccumulatedSteps:
-    &lt;&lt;: *motorsaccumulatedsteps
-    address: 92
-    description: Contains the accumulated number of steps of motor 1. Write a value to set the current number of accumulated steps.
-  Mortor2AccumulatedSteps:
-    &lt;&lt;: *motorsaccumulatedsteps
-    address: 93
-    description: Contains the accumulated number of steps of motor 2. Write a value to set the current number of accumulated steps.
-  Mortor3AccumulatedSteps:
-    &lt;&lt;: *motorsaccumulatedsteps
-    address: 94
-    description: Contains the accumulated number of steps of motor 3. Write a value to set the current number of accumulated steps.
-
-  MaxPosition:
-    address: 95
-    type: S32
-    length: 4
-    access: Write
-    description: Defines the limit of the accumulated steps for the positive movement of all motors. The device will not let the motors move further than this value. A value equal to 0 will disable the limits.
-    payloadSpec:
-      Motor0:
-        offset: 0
-        description: Defines the limit of the accumulated steps for the positive movement of motor 0. The device will not let the motor move further than this value.
-      Motor1:
-        offset: 1
-        description: Defines the limit of the accumulated steps for the positive movement of motor 1. The device will not let the motor move further than this value.
-      Motor2:
-        offset: 2
-        description: Defines the limit of the accumulated steps for the positive movement of motor 2. The device will not let the motor move further than this value.
-      Motor3:
-        offset: 3
-        description: Defines the limit of the accumulated steps for the positive movement of motor 3. The device will not let the motor move further than this value.
-
-  Motor0MaxPosition: &amp;motorsmaxsteps
-    address: 96
-    type: S32
-    access: Write
-    description: Specifies the limit of the accumulated steps for the positive movement of motor 0. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
-  Motor1MaxPosition:
-    &lt;&lt;: *motorsmaxsteps
-    address: 97
-    description: Specifies the limit of the accumulated steps for the positive movement of motor 1. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
-  Motor2MaxPosition:
-    &lt;&lt;: *motorsmaxsteps
-    address: 98
-    description: Specifies the limit of the accumulated steps for the positive movement of motor 2. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
-  Motor3MaxPosition:
-    &lt;&lt;: *motorsmaxsteps
-    address: 99
-    description: Specifies the limit of the accumulated steps for the positive movement of motor 3. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
-
-  MinPosition:
-    address: 100
-    type: S32
-    length: 4
-    access: Write
-    description: Defines the limit of the accumulated steps for the negative movement of all motors. The device will not let the motors move further than this value. A value equal to 0 will disable the limits.
-    payloadSpec:
-      Motor0:
-        offset: 0
-        description: Defines the limit of the accumulated steps for the negative movement of motor 0. The device will not let the motor move further than this value.
-      Motor1:
-        offset: 1
-        description: Defines the limit of the accumulated steps for the negative movement of motor 1. The device will not let the motor move further than this value.
-      Motor2:
-        offset: 2
-        description: Defines the limit of the accumulated steps for the negative movement of motor 2. The device will not let the motor move further than this value.
-      Motor3:
-        offset: 3
-        description: Defines the limit of the accumulated steps for the negative movement of motor 3. The device will not let the motor move further than this value.
-
-  Motor0MinPosition: &amp;motorsminsteps
-    address: 101
-    type: S32
-    access: Write
-    description: Specifies the limit of the accumulated steps for the negative movement of motor 0. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
-  Motor1MinPosition:
-    &lt;&lt;: *motorsminsteps
-    address: 102
-    description: Specifies the limit of the accumulated steps for the negative movement of motor 1. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
-  Motor2MinPosition:
-    &lt;&lt;: *motorsminsteps
-    address: 103
-    description: Specifies the limit of the accumulated steps for the negative movement of motor 2. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
-  Motor3MinPosition:
-    &lt;&lt;: *motorsminsteps
-    address: 104
-    description: Specifies the limit of the accumulated steps for the negative movement of motor 3. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
-
-  StepRelative:
-    address: 105
-    type: S32
-    length: 4
-    access: Write
-    description: Starts the movement of all motors with the step interval defined by this array. The value's signal defines the direction.
-    payloadSpec:
-      Motor0:
-        offset: 0
-        description: Starts the movement of motor 0 with the step interval defined by this register. The value's signal defines the direction.
-      Motor1:
-        offset: 1
-        description: Starts the movement of motor 1 with the step interval defined by this register. The value's signal defines the direction.
-      Motor2:
-        offset: 2
-        description: Starts the movement of motor 2 with the step interval defined by this register. The value's signal defines the direction.
-      Motor3:
-        offset: 3
-        description: Starts the movement of motor 3 with the step interval defined by this register. The value's signal defines the direction.
-
-  Motor0StepRelative: &amp;immediatesteps
-    address: 106
-    type: S32
-    access: Write
-    description: Starts the movement of motor 0 with the step interval defined by this register, disregarding the acceleration protocol. The sign of the value specifies the direction.
-  Motor1StepRelative:
-    &lt;&lt;: *immediatesteps
-    address: 107
-    description: Starts the movement of motor 1 with the step interval defined by this register, disregarding the acceleration protocol. The sign of the value specifies the direction.
-  Motor2StepRelative:
-    &lt;&lt;: *immediatesteps
-    address: 108
-    description: Starts the movement of motor 2 with the step interval defined by this register, disregarding the acceleration protocol. The sign of the value specifies the direction.
-  Motor3StepRelative:
-    &lt;&lt;: *immediatesteps
-    address: 109
-    description: Starts the movement of motor 3 with the step interval defined by this register, disregarding the acceleration protocol. The sign of the value specifies the direction.
-
-  ##################################
-  # Actions
-  ##################################
-  StopMotors:
-    address: 110
-    type: U8
-    access: Write
-    maskType: StepperMotors
-    description: Stops the motors selected in the bit-mask immediately.
-  ResetMotors:
-    address: 111
-    type: U8
-    access: Write
-    visibility: private
-    maskType: StepperMotors
-    description: Resets the internal motor driver which also clears any eventual error (not implemented).
-  ResetEncoders:
-    address: 112
-    type: U8
-    access: Write
-    maskType: QuadratureEncoders
-    description: Resets the encoder.
-
-  ##################################
-  # Reserved
-  ##################################
-  Reserved0: &amp;reserved
-    address: 113
-    type: U8
-    access: Write
-    visibility: private
-    description: Contains the CFG configuration pins of the TMC2210 driver that controls motor 0.
-  Reserved1:
-    &lt;&lt;: *reserved
-    address: 114
-    description: Contains the CFG configuration pins of the TMC2210 driver that controls motor 1.
-  Reserved2:
-    &lt;&lt;: *reserved
-    address: 115
-    description: Contains the CFG configuration pins of the TMC2210 driver that controls motor 2.
-  Reserved3:
-    &lt;&lt;: *reserved
-    address: 116
-    description: Contains the CFG configuration pins of the TMC2210 driver that controls motor 3.
-  Reserved4:
-    &lt;&lt;: *reserved
-    address: 117
-    visibility: private
-    description: Contains the raw data of the digital potentiometer that controls current limit of motor 0.
-  Reserved5:
-    &lt;&lt;: *reserved
-    address: 118
-    visibility: private
-    description: Contains the raw data of the digital potentiometer that controls current limit of motor 1.
-  Reserved6:
-    &lt;&lt;: *reserved
-    address: 119
-    visibility: private
-    description: Contains the raw data of the digital potentiometer that controls current limit of motor 2.
-  Reserved7:
-    &lt;&lt;: *reserved
-    address: 120
-    visibility: private
-    description: Contains the raw data of the digital potentiometer that controls current limit of motor 3.
-
-  ##################################
-  # Reserved block
-  ##################################
-  Reserved8: &amp;reserved_unused
-    address: 121
-    visibility: private
-    type: U8
-    access: Read
-    description: Reserved register.
-  Reserved9:
-    &lt;&lt;: *reserved_unused
-    address: 122
-  Reserved10:
-    &lt;&lt;: *reserved_unused
-    address: 123
-  Reserved11:
-    &lt;&lt;: *reserved_unused
-    address: 124
-  Reserved12:
-    &lt;&lt;: *reserved_unused
-    address: 125
-  Reserved13:
-    &lt;&lt;: *reserved_unused
-    address: 126
-  Reserved14:
-    &lt;&lt;: *reserved_unused
-    address: 127
-  Reserved15:
-    &lt;&lt;: *reserved_unused
-    address: 128
-  Reserved16:
-    &lt;&lt;: *reserved_unused
-    address: 129
-
-  ##################################
-  # Quick movement
-  ##################################
-  TriggerQuickMovement:
-    address: 130
-    type: U8
-    access: Write
-    maskType: StepperMotors
-    description: Triggers the quick movement in the correspondent motor with the currently configured settings.
-  Motor1QuickMovementPulseDistance: &amp;quickmovement_pulsedistance
-    address: 131
-    type: Float
-    access: Write
-    description: Sets the single pulse distance for a quick movement, in millimeters, for the Motor 1.
-  Motor2QuickMovementPulseDistance:
-    &lt;&lt;: *quickmovement_pulsedistance
-    address: 132
-    description: Sets the single pulse distance for a quick movement, in millimeters, for the Motor 2.
-  Motor1QuickMovementNominalSpeed: &amp;quickmovement_nominalspeed
-    address: 133
-    type: Float
-    access: Write
-    description: Sets the target speed for a quick movement, in millimeters per second, for the Motor 1.
-  Motor2QuickMovementNominalSpeed:
-    &lt;&lt;: *quickmovement_nominalspeed
-    address: 134
-    description: Sets the target speed for a quick movement, in millimeters per second, for the Motor 2.
-  Motor1QuickMovementInitialSpeed: &amp;quickmovement_initialspeed
-    address: 135
-    type: Float
-    access: Write
-    description: Sets the initial speed for a quick movement, in millimeters per second, for the Motor 1.
-  Motor2QuickMovementInitialSpeed:
-    &lt;&lt;: *quickmovement_initialspeed
-    address: 136
-    description: Sets the initial speed for a quick movement, in millimeters per second, for the Motor 2.
-  Motor1QuickMovementAcceleration: &amp;quickmovement_acceleration
-    address: 137
-    type: Float
-    access: Write
-    description: Sets the acceleration for a quick movement, in millimeters per second^2, for the Motor 1.
-  Motor2QuickMovementAcceleration:
-    &lt;&lt;: *quickmovement_acceleration
-    address: 138
-    description: Sets the acceleration for a quick movement, in millimeters per second^2, for the Motor 2.
-  Motor1QuickMovementDistance: &amp;quickmovement_distance
-    address: 139
-    type: Float
-    access: Write
-    description: Sets the travel distance of a quick movement, in millimeters, for the Motor 1.
-  Motor2QuickMovementDistance:
-    &lt;&lt;: *quickmovement_distance
-    address: 140
-    description: Sets the travel distance of a quick movement, in millimeters, for the Motor 1.
-
-##################################
-# Bit masks
-##################################
-bitMasks:
-  StepperMotors:
-    description: Specifies the index of each motor.
-    bits:
-      Motor0: 0x01
-      Motor1: 0x02
-      Motor2: 0x04
-      Motor3: 0x08
-  QuadratureEncoders:
-    description: Specifies the index of each motor.
-    bits:
-      Encoder0: 0x01
-      Encoder1: 0x02
-      Encoder2: 0x04
-  DigitalInputs:
-    description: Specifies the available digital input lines.
-    bits:
-      Input0: 0x1
-      Input1: 0x2
-      Input2: 0x4
-      Input3: 0x8
-  DigitalInputStates:
-    description: Specifies the state of the port and digital input line that changed.
-    bits:
-      Input0: 0x1
-      Input1: 0x2
-      Input2: 0x4
-      Input3: 0x8
-      Input0Changed: 0x10
-      Input1Changed: 0x20
-      Input2Changed: 0x40
-      Input3Changed: 0x80
-##################################
-# Group masks
-##################################
-groupMasks:
-  EncoderModeConfig:
-    description: Specifies the type of reading made from the quadrature QuadratureEncoders.
-    values:
-      Position: 0
-      Displacement: 1
-  EncoderSamplingRateConfig:
-    description: Specifies the rate of the events from the quadrature QuadratureEncoders.
-    values:
-      Rate100Hz: 0
-      Rate200Hz: 1
-      Rate250Hz: 2
-      Rate500Hz: 3
-  MotorOperationMode:
-    description: Specifies the motor operation mode.
-    values:
-      QuietMode: 0
-      DynamicMovements: 1
-  MicrostepResolution:
-    description: Specifies the microstep resolution for each step pulse.
-    values:
-      Microstep8: 0
-      Microstep16: 1
-      Microstep32: 2
-      Microstep64: 3
-  HoldCurrentReduction:
-    description: Specifies the hold current reduction.
-    values:
-      ReductionTo50Percent: 0
-      ReductionTo25Percent: 1
-      ReductionTo12Percent: 2
-      NoReduction: 3
-  InputOpModeConfig:
-    description: Specifies the inputs operation mode.
-    values:
-      EventOnly: 0x0
-      StopMotor0OnRising: 0x10
-      StopMotor1OnRising: 0x11
-      StopMotor2OnRising: 0x12
-      StopMotor3OnRising: 0x13
-      StopMotor0OnFalling: 0x20
-      StopMotor1OnFalling: 0x21
-      StopMotor2OnFalling: 0x22
-      StopMotor3OnFalling: 0x23
-  TriggerConfig:
-    description: Specifies the input trigger configuration.
-    values:
-      FallingEdge: 0
-      RisingEdge: 1
-  InterlockEnabledConfig:
-    description: Specifies the external connector state that enables the device.
-    values:
-      Closed: 0
-      Open: 1
-  AccumulatedStepsSamplingRateConfig:
-    description: Specifies the rate of the accumulated steps events.
-    values:
-      Disabled: 0
-      Rate10Hz: 1
-      Rate50Hz: 2
-      Rate100Hz: 3
-  DeviceStateMode:
-    description: Specifies the current state of the device.
-    values:
-      Disabled: 0
-      Enabled: 1</Value>
-        </Combinator>
-      </Expression>
-      <Expression xsi:type="Combinator">
-        <Combinator xsi:type="rx:Take">
-          <rx:Count>1</rx:Count>
-        </Combinator>
-      </Expression>
-      <Expression xsi:type="WorkflowOutput" />
-    </Nodes>
-    <Edges>
-      <Edge From="0" To="1" Label="Source1" />
-      <Edge From="1" To="2" Label="Source1" />
-    </Edges>
-  </Workflow>
-</WorkflowBuilder>
\ No newline at end of file
diff --git a/src/Extensions/Logging.bonsai b/src/Extensions/Logging.bonsai
index 97932e8..d679871 100644
--- a/src/Extensions/Logging.bonsai
+++ b/src/Extensions/Logging.bonsai
@@ -4,13 +4,14 @@
                  xmlns:rx="clr-namespace:Bonsai.Reactive;assembly=Bonsai.Core"
                  xmlns:p1="clr-namespace:AllenNeuralDynamics.Core;assembly=AllenNeuralDynamics.Core"
                  xmlns:sys="clr-namespace:System;assembly=mscorlib"
-                 xmlns:p2="clr-namespace:AllenNeuralDynamics.LicketySplit;assembly=AllenNeuralDynamics.LicketySplit"
-                 xmlns:p3="clr-namespace:AllenNeuralDynamics.SniffDetector;assembly=AllenNeuralDynamics.SniffDetector"
-                 xmlns:p4="clr-namespace:AllenNeuralDynamics.WhiteRabbit;assembly=AllenNeuralDynamics.WhiteRabbit"
-                 xmlns:p5="clr-namespace:AllenNeuralDynamics.EnvironmentSensor;assembly=AllenNeuralDynamics.EnvironmentSensor"
+                 xmlns:p2="clr-namespace:Harp.StepperDriver;assembly=Harp.StepperDriver"
+                 xmlns:p3="clr-namespace:AllenNeuralDynamics.LicketySplit;assembly=AllenNeuralDynamics.LicketySplit"
+                 xmlns:p4="clr-namespace:AllenNeuralDynamics.SniffDetector;assembly=AllenNeuralDynamics.SniffDetector"
+                 xmlns:p5="clr-namespace:AllenNeuralDynamics.WhiteRabbit;assembly=AllenNeuralDynamics.WhiteRabbit"
+                 xmlns:p6="clr-namespace:AllenNeuralDynamics.EnvironmentSensor;assembly=AllenNeuralDynamics.EnvironmentSensor"
                  xmlns:harp="clr-namespace:Bonsai.Harp;assembly=Bonsai.Harp"
-                 xmlns:p6="clr-namespace:AllenNeuralDynamics.HarpUtils;assembly=AllenNeuralDynamics.HarpUtils"
-                 xmlns:p7="clr-namespace:AindDynamicForagingDataSchema;assembly=Extensions"
+                 xmlns:p7="clr-namespace:AllenNeuralDynamics.HarpUtils;assembly=AllenNeuralDynamics.HarpUtils"
+                 xmlns:p8="clr-namespace:AindDynamicForagingDataSchema;assembly=Extensions"
                  xmlns="https://bonsai-rx.org/2018/workflow">
   <Workflow>
     <Nodes>
@@ -101,7 +102,9 @@
                             <Property Name="Modality" />
                           </PropertyMappings>
                         </Expression>
-                        <Expression xsi:type="IncludeWorkflow" Path="Extensions\HarpStepperDriverGetMetadata.bonsai" />
+                        <Expression xsi:type="Combinator">
+                          <Combinator xsi:type="p2:GetDeviceMetadata" />
+                        </Expression>
                         <Expression xsi:type="PropertyMapping">
                           <PropertyMappings>
                             <Property Name="DeviceMetadata" />
@@ -124,7 +127,7 @@
                           </PropertyMappings>
                         </Expression>
                         <Expression xsi:type="Combinator">
-                          <Combinator xsi:type="p2:GetMetadata" />
+                          <Combinator xsi:type="p3:GetMetadata" />
                         </Expression>
                         <Expression xsi:type="PropertyMapping">
                           <PropertyMappings>
@@ -158,7 +161,7 @@
                           </PropertyMappings>
                         </Expression>
                         <Expression xsi:type="Combinator">
-                          <Combinator xsi:type="p2:GetMetadata" />
+                          <Combinator xsi:type="p3:GetMetadata" />
                         </Expression>
                         <Expression xsi:type="PropertyMapping">
                           <PropertyMappings>
@@ -206,7 +209,7 @@
                           <Name>HarpSniffDetectorEvents</Name>
                         </Expression>
                         <Expression xsi:type="Combinator">
-                          <Combinator xsi:type="p3:GetMetadata" />
+                          <Combinator xsi:type="p4:GetMetadata" />
                         </Expression>
                         <Expression xsi:type="PropertyMapping">
                           <PropertyMappings>
@@ -240,7 +243,7 @@
                           <Name>HarpWhiteRabbitEvents</Name>
                         </Expression>
                         <Expression xsi:type="Combinator">
-                          <Combinator xsi:type="p4:GetMetadata" />
+                          <Combinator xsi:type="p5:GetMetadata" />
                         </Expression>
                         <Expression xsi:type="PropertyMapping">
                           <PropertyMappings>
@@ -264,7 +267,7 @@
                           <Name>HarpEnvironmentSensorEvents</Name>
                         </Expression>
                         <Expression xsi:type="Combinator">
-                          <Combinator xsi:type="p5:GetMetadata" />
+                          <Combinator xsi:type="p6:GetMetadata" />
                         </Expression>
                         <Expression xsi:type="PropertyMapping">
                           <PropertyMappings>
@@ -375,9 +378,9 @@
                           <Combinator xsi:type="rx:WithLatestFrom" />
                         </Expression>
                         <Expression xsi:type="Combinator">
-                          <Combinator xsi:type="p6:ModifyMessage">
-                            <p6:Address xsi:nil="true" />
-                            <p6:MessageTypeModified xsi:nil="true" />
+                          <Combinator xsi:type="p7:ModifyMessage">
+                            <p7:Address xsi:nil="true" />
+                            <p7:MessageTypeModified xsi:nil="true" />
                           </Combinator>
                         </Expression>
                         <Expression xsi:type="SubscribeSubject">
@@ -415,9 +418,9 @@
                           <Combinator xsi:type="rx:WithLatestFrom" />
                         </Expression>
                         <Expression xsi:type="Combinator">
-                          <Combinator xsi:type="p6:ModifyMessage">
-                            <p6:Address xsi:nil="true" />
-                            <p6:MessageTypeModified xsi:nil="true" />
+                          <Combinator xsi:type="p7:ModifyMessage">
+                            <p7:Address xsi:nil="true" />
+                            <p7:MessageTypeModified xsi:nil="true" />
                           </Combinator>
                         </Expression>
                         <Expression xsi:type="SubscribeSubject">
@@ -428,7 +431,9 @@
                             <Property Name="Modality" />
                           </PropertyMappings>
                         </Expression>
-                        <Expression xsi:type="IncludeWorkflow" Path="Extensions\HarpStepperDriverGetMetadata.bonsai" />
+                        <Expression xsi:type="Combinator">
+                          <Combinator xsi:type="p2:GetDeviceMetadata" />
+                        </Expression>
                         <Expression xsi:type="PropertyMapping">
                           <PropertyMappings>
                             <Property Name="DeviceMetadata" />
@@ -455,9 +460,9 @@
                           <Combinator xsi:type="rx:WithLatestFrom" />
                         </Expression>
                         <Expression xsi:type="Combinator">
-                          <Combinator xsi:type="p6:ModifyMessage">
-                            <p6:Address xsi:nil="true" />
-                            <p6:MessageTypeModified xsi:nil="true" />
+                          <Combinator xsi:type="p7:ModifyMessage">
+                            <p7:Address xsi:nil="true" />
+                            <p7:MessageTypeModified xsi:nil="true" />
                           </Combinator>
                         </Expression>
                         <Expression xsi:type="SubscribeSubject">
@@ -469,7 +474,7 @@
                           </PropertyMappings>
                         </Expression>
                         <Expression xsi:type="Combinator">
-                          <Combinator xsi:type="p2:GetMetadata" />
+                          <Combinator xsi:type="p3:GetMetadata" />
                         </Expression>
                         <Expression xsi:type="PropertyMapping">
                           <PropertyMappings>
@@ -497,9 +502,9 @@
                           <Combinator xsi:type="rx:WithLatestFrom" />
                         </Expression>
                         <Expression xsi:type="Combinator">
-                          <Combinator xsi:type="p6:ModifyMessage">
-                            <p6:Address xsi:nil="true" />
-                            <p6:MessageTypeModified xsi:nil="true" />
+                          <Combinator xsi:type="p7:ModifyMessage">
+                            <p7:Address xsi:nil="true" />
+                            <p7:MessageTypeModified xsi:nil="true" />
                           </Combinator>
                         </Expression>
                         <Expression xsi:type="SubscribeSubject">
@@ -511,7 +516,7 @@
                           </PropertyMappings>
                         </Expression>
                         <Expression xsi:type="Combinator">
-                          <Combinator xsi:type="p2:GetMetadata" />
+                          <Combinator xsi:type="p3:GetMetadata" />
                         </Expression>
                         <Expression xsi:type="PropertyMapping">
                           <PropertyMappings>
@@ -539,9 +544,9 @@
                           <Combinator xsi:type="rx:WithLatestFrom" />
                         </Expression>
                         <Expression xsi:type="Combinator">
-                          <Combinator xsi:type="p6:ModifyMessage">
-                            <p6:Address xsi:nil="true" />
-                            <p6:MessageTypeModified xsi:nil="true" />
+                          <Combinator xsi:type="p7:ModifyMessage">
+                            <p7:Address xsi:nil="true" />
+                            <p7:MessageTypeModified xsi:nil="true" />
                           </Combinator>
                         </Expression>
                         <Expression xsi:type="SubscribeSubject">
@@ -553,7 +558,7 @@
                           </PropertyMappings>
                         </Expression>
                         <Expression xsi:type="Combinator">
-                          <Combinator xsi:type="p4:GetMetadata" />
+                          <Combinator xsi:type="p5:GetMetadata" />
                         </Expression>
                         <Expression xsi:type="PropertyMapping">
                           <PropertyMappings>
@@ -581,9 +586,9 @@
                           <Combinator xsi:type="rx:WithLatestFrom" />
                         </Expression>
                         <Expression xsi:type="Combinator">
-                          <Combinator xsi:type="p6:ModifyMessage">
-                            <p6:Address xsi:nil="true" />
-                            <p6:MessageTypeModified xsi:nil="true" />
+                          <Combinator xsi:type="p7:ModifyMessage">
+                            <p7:Address xsi:nil="true" />
+                            <p7:MessageTypeModified xsi:nil="true" />
                           </Combinator>
                         </Expression>
                         <Expression xsi:type="SubscribeSubject">
@@ -595,7 +600,7 @@
                           </PropertyMappings>
                         </Expression>
                         <Expression xsi:type="Combinator">
-                          <Combinator xsi:type="p3:GetMetadata" />
+                          <Combinator xsi:type="p4:GetMetadata" />
                         </Expression>
                         <Expression xsi:type="PropertyMapping">
                           <PropertyMappings>
@@ -633,9 +638,9 @@
                           <Combinator xsi:type="rx:WithLatestFrom" />
                         </Expression>
                         <Expression xsi:type="Combinator">
-                          <Combinator xsi:type="p6:ModifyMessage">
-                            <p6:Address xsi:nil="true" />
-                            <p6:MessageTypeModified xsi:nil="true" />
+                          <Combinator xsi:type="p7:ModifyMessage">
+                            <p7:Address xsi:nil="true" />
+                            <p7:MessageTypeModified xsi:nil="true" />
                           </Combinator>
                         </Expression>
                         <Expression xsi:type="SubscribeSubject">
@@ -647,7 +652,7 @@
                           </PropertyMappings>
                         </Expression>
                         <Expression xsi:type="Combinator">
-                          <Combinator xsi:type="p5:GetMetadata" />
+                          <Combinator xsi:type="p6:GetMetadata" />
                         </Expression>
                         <Expression xsi:type="PropertyMapping">
                           <PropertyMappings>
@@ -685,9 +690,9 @@
                           <Combinator xsi:type="rx:WithLatestFrom" />
                         </Expression>
                         <Expression xsi:type="Combinator">
-                          <Combinator xsi:type="p6:ModifyMessage">
-                            <p6:Address xsi:nil="true" />
-                            <p6:MessageTypeModified xsi:nil="true" />
+                          <Combinator xsi:type="p7:ModifyMessage">
+                            <p7:Address xsi:nil="true" />
+                            <p7:MessageTypeModified xsi:nil="true" />
                           </Combinator>
                         </Expression>
                         <Expression xsi:type="SubscribeSubject">
@@ -917,8 +922,8 @@
                                 <Name>SessionSchema</Name>
                               </Expression>
                               <Expression xsi:type="Combinator">
-                                <Combinator xsi:type="p7:SerializeToJson">
-                                  <p7:Formatting>None</p7:Formatting>
+                                <Combinator xsi:type="p8:SerializeToJson">
+                                  <p8:Formatting>None</p8:Formatting>
                                 </Combinator>
                               </Expression>
                               <Expression xsi:type="SubscribeSubject">
@@ -947,8 +952,8 @@
                                 <Name>TaskLogicSchema</Name>
                               </Expression>
                               <Expression xsi:type="Combinator">
-                                <Combinator xsi:type="p7:SerializeToJson">
-                                  <p7:Formatting>None</p7:Formatting>
+                                <Combinator xsi:type="p8:SerializeToJson">
+                                  <p8:Formatting>None</p8:Formatting>
                                 </Combinator>
                               </Expression>
                               <Expression xsi:type="SubscribeSubject">
@@ -977,8 +982,8 @@
                                 <Name>RigSchema</Name>
                               </Expression>
                               <Expression xsi:type="Combinator">
-                                <Combinator xsi:type="p7:SerializeToJson">
-                                  <p7:Formatting>None</p7:Formatting>
+                                <Combinator xsi:type="p8:SerializeToJson">
+                                  <p8:Formatting>None</p8:Formatting>
                                 </Combinator>
                               </Expression>
                               <Expression xsi:type="SubscribeSubject">
@@ -1166,8 +1171,8 @@
                     <Selector>Value.VideoWriter</Selector>
                   </Expression>
                   <Expression xsi:type="IncludeWorkflow" Path="AllenNeuralDynamics.Core:FilterNotNull.bonsai" />
-                  <Expression xsi:type="p7:MatchVideoWriter">
-                    <p7:Type xsi:type="TypeMapping" TypeArguments="p7:VideoWriterFfmpeg" />
+                  <Expression xsi:type="p8:MatchVideoWriter">
+                    <p8:Type xsi:type="TypeMapping" TypeArguments="p8:VideoWriterFfmpeg" />
                   </Expression>
                   <Expression xsi:type="MemberSelector">
                     <Selector>Key</Selector>
@@ -1332,8 +1337,8 @@
                     <Selector>Value.VideoWriter</Selector>
                   </Expression>
                   <Expression xsi:type="IncludeWorkflow" Path="AllenNeuralDynamics.Core:FilterNotNull.bonsai" />
-                  <Expression xsi:type="p7:MatchVideoWriter">
-                    <p7:Type xsi:type="TypeMapping" TypeArguments="p7:VideoWriterOpenCv" />
+                  <Expression xsi:type="p8:MatchVideoWriter">
+                    <p8:Type xsi:type="TypeMapping" TypeArguments="p8:VideoWriterOpenCv" />
                   </Expression>
                   <Expression xsi:type="MemberSelector">
                     <Selector>Key</Selector>