I have been delving (groping blindfold, more accurately) into the Arduino compiler adaptation code to try to determine how it handles the switch-over between its pwm activities, its set-I/O-to-output ...

This repo demonstrates how to work with an Arduino's PWM outputs in a clean programmer-friendly way. It packages all the low-level interaction with timer clocks that underly PWM functionality, ...

This is a modification of the popular AccelStepper library that runs the motors using timer interrupts instead of polling them in the main loop. This allows for more precise step timings and running ...