POC For an async stepper in Arduino

main.ino

#include "Stepper.h"

Stepper stepper;

long currentTime;
long lastBeginStep;

void setup() {}

void loop() {
  stepper.step()
  currentTime = millis();
  
  if(currentTime - lastBeginStep > 5000) {
    lastBeginStep = currentTime;
    stepper.beginStep(1000, Stepper::StepDirection::FORWARD, 500);
  }
}

Stepper.h

class Stepper {
public:
  enum StepDirection { FORWARD, REVERSE };

  // ... Other members ...

  void beginStep(int numSteps, StepDirection direction, int speed) {
    // Ignore beginStep if the stepper is already stepping
    if (_inMotion) {
      return;
    }

    Serial.println("Beginning a new step process...");

    // Initialize step parameters
    _numSteps = numSteps;
    _direction = direction;
    _speed = speed;
    _stepsMade = 0;
    _lastStepTime = micros();
    _inMotion = true;

    Serial.println("_numSteps: ");
    Serial.print(_numSteps);
    Serial.println("_direction: ");
    Serial.print(_direction);
    Serial.println("_speed");
    Serial.print(_speed);
  }

  void step() {
    // Check if a step is due
    unsigned long currentMicros = micros();
    if (currentMicros - _lastStepTime >= 1000000/_speed) {
      // Time for a step

      if (_stepsMade < _numSteps) {
        // Do the step
        digitalWrite(_stpPin, _direction == StepDirection::FORWARD ? LOW : HIGH);
        digitalWrite(_stpPin, LOW);
        _stepsMade++;
      } else {
        // All steps made, disable motor
        digitalWrite(_enablePin, HIGH);
        _inMotion = false;
      }

      _lastStepTime = currentMicros;
    }
  }

private:
  // Placeholder pin definitions, update with your actual pin assignments
  const int _stpPin = 9;
  const int _enablePin = 10;

  // ... Other members ...
  volatile int _numSteps;
  volatile StepDirection _direction;
  volatile int _speed;
  volatile int _stepsMade;
  volatile unsigned long _lastStepTime;
  volatile bool _inMotion;  // Flag indicating whether a stepping sequence is currently in progress
};