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When using the stepper library with a 1.8 degrees per step motor, and at high angular speeds, the current Stepper library leads to really loud and jittery rotation. This is due to the fact that the timing is calculated in milliseconds, and the delay length between steps is only 2.5 milliseconds when trying to spin at 120 rpm. Since only integer math is performed, you end up actually bouncing between different step delays, and thus speeds, from step to step instead of giving the motor a constant input. Which causes the motor to freak out. Changing the library to calculate the step delays in micros() solves that problem for any speed you can reasonably demand from your stepper motor. The down side is that the micros() counter rolls over every hour or so, and any move you perform after that point will hang your code. Easy fix for that is to add an || micros() - this->last_step_time < 0 to the while loop if statement in Stepper.cpp.
Arduino
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Arduino is an open-source physical computing platform based on a simple i/o board and a development environment that implements the Processing/Wiring language. Arduino can be used to develop stand-alone interactive objects or can be connected to software on your computer (e.g. Flash, Processing, MaxMSP). The boards can be assembled by hand or purchased preassembled; the open-source IDE can be downloaded for free at http://www.arduino.cc/en/Main/Software
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For more information, see the website at: http://www.arduino.cc/ or the forums at: http://www.arduino.cc/forum/
You can also follow Arduino on twitter at: https://twitter.com/arduino or like Arduino on Facebook at: https://www.facebook.com/official.arduino -
To report a bug in the software or to request a simple enhancement go to: http://github.com/arduino/Arduino/issues
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More complex requests and technical discussion should go on the Arduino Developers mailing list: https://groups.google.com/a/arduino.cc/forum/#!forum/developers
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If you're interested in modifying or extending the Arduino software, we strongly suggest discussing your ideas on the Developers mailing list before starting to work on them. That way you can coordinate with the Arduino Team and others, giving your work a higher chance of being integrated into the official release https://groups.google.com/a/arduino.cc/forum/#!forum/developers
Installation
Detailed instructions are in reference/Guide_Windows.html and reference/Guide_MacOSX.html. For Linux, see the Arduino playground: http://www.arduino.cc/playground/Learning/Linux
Credits
Arduino is an open source project, supported by many.
The Arduino team is composed of Massimo Banzi, David Cuartielles, Tom Igoe, Gianluca Martino, Daniela Antonietti, and David A. Mellis.
Arduino uses the GNU avr-gcc toolchain, avrdude, avr-libc, and code from Processing and Wiring.
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