This fork follows the upstream version. Files are slightly reorganized to follow Arduino library conventions to allow for inclusion into the Arduino IDE library manager.

Please direct questions and discussion to http://groups.google.com/group/accelstepper

This is the Arduino 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 (https://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