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vberkaltun authored Aug 27, 2017
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# MultiStepper & AccelStepper Libraries

This is the Arduino MultiStepper & AccelStepper library. It provides an object-oriented interface for 2, 3 or 4 pin stepper motors and motor drivers. The standard Arduino IDE includes the Stepper library (http://arduino.cc/en/Reference/Stepper) for stepper motors. It is perfectly adequate for simple, single motor applications.

AccelStepper significantly improves on the standard Arduino Stepper library in several ways:

* Supports acceleration and deceleration
* Supports multiple simultaneous steppers, with independent concurrent stepping on each stepper
* API functions never delay() or block
* Supports 2, 3 and 4 wire steppers, plus 3 and 4 wire half steppers.
* Supports alternate stepping functions to enable support of AFMotor (http://github.com/adafruit/Adafruit-Motor-Shield-library)
* Supports stepper drivers such as the Sparkfun EasyDriver (based on 3967 driver chip)
* Very slow speeds are supported
* Extensive API
* Subclass support

### Support

Example Arduino programs are included to show the main modes of use.

You can also find online help and discussion at http://groups.google.com/group/accelstepper Please use that group for all questions and discussions on this topic. Do not contact the author directly, unless it is to discuss commercial licensing. Before asking a question or reporting a bug, please read

* http://en.wikipedia.org/wiki/Wikipedia:Reference_desk/How_to_ask_a_software_question
* http://www.catb.org/esr/faqs/smart-questions.html
* http://www.chiark.greenend.org.uk/~shgtatham/bugs.html
This is the **extended** Arduino MultiStepper & AccelStepper library. It provides an object-oriented interface for 2, 3 or 4 pin stepper motors and motor drivers. The standard Arduino IDE includes the Stepper library (http://arduino.cc/en/Reference/Stepper) for stepper motors. It is perfectly adequate for simple, single motor applications.

### Compatibility

Tested on Arduino Diecimila and Mega with arduino-0018 & arduino-0021 on OpenSuSE 11.1 and avr-libc-1.6.1-1.15, cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5. Tested on Teensy http://www.pjrc.com/teensy including Teensy 3.1 built using Arduino IDE 1.0.5 with teensyduino addon 1.18 and later.
Tested on Arduino Uno and Arduino Mega with using Arduino IDE 1.8.0 or later version. In additional to this, You can learn all compatibility informations from http://www.airspayce.com/mikem/arduino/AccelStepper/ as up-to-date.

### Changelog [Differences from Core Repo]

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This is a Github mirror of the AccelStepper source code from http://www.airspayce.com/mikem/arduino/AccelStepper/ This software is Copyright (C) 2008 Mike McCauley. It is provided under the GNU GPL 2.0 license.
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###### Improved by Berk Altun - www.vberkaltun.com

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