From 3540590a01f5e56124a6afbff6a9c6cf3cf8c3c0 Mon Sep 17 00:00:00 2001
From: Stanislav Kniazev <skniazev@gmx.net>
Date: Sat, 5 Dec 2015 19:20:54 +0100
Subject: [PATCH 01/12] Support generic drivers for Stepper library

Main features of this version:
1. 100% compatible with the actual master branch
2. generic driver support (see example stepper_oneRevolution_ULN2003 for
driver ULN2003ERP & Motor_BYJ48)
3. constructors harmonization by introducing the initMotor method,
4. speed and size optimization of method stepMotor by introducing the
phasesMatrix array
---
 .../stepper_oneRevolution_28BYJ48_ULN2003.ino |  71 +++++
 libraries/Stepper/src/Stepper.cpp             | 287 +++++-------------
 libraries/Stepper/src/Stepper.h               |  71 ++++-
 3 files changed, 209 insertions(+), 220 deletions(-)
 create mode 100644 libraries/Stepper/examples/stepper_oneRevolution_28BYJ48_ULN2003/stepper_oneRevolution_28BYJ48_ULN2003.ino

diff --git a/libraries/Stepper/examples/stepper_oneRevolution_28BYJ48_ULN2003/stepper_oneRevolution_28BYJ48_ULN2003.ino b/libraries/Stepper/examples/stepper_oneRevolution_28BYJ48_ULN2003/stepper_oneRevolution_28BYJ48_ULN2003.ino
new file mode 100644
index 00000000000..dba27e4a40c
--- /dev/null
+++ b/libraries/Stepper/examples/stepper_oneRevolution_28BYJ48_ULN2003/stepper_oneRevolution_28BYJ48_ULN2003.ino
@@ -0,0 +1,71 @@
+/*
+ Stepper Motor Control - one revolution
+
+ This program drives a unipolar or bipolar stepper motor.
+ The motor is attached to digital pins 8 - 11 of the Arduino.
+
+ The motor should revolve one revolution in one direction, then
+ one revolution in the other direction.
+
+
+ Created 11 Mar. 2007
+ Modified 30 Nov. 2009
+ by Tom Igoe
+
+ Example adapted for the combination of Motor 28BYJ-48 and driver ULN2003
+ see http://www.amazon.de/gp/product/B00ATA5MFE?keywords=ULN2003%2028BYJ48
+ Modified 05 Dec. 2015
+ by Stanislav Kniazev
+
+ */
+
+#include <Stepper.h>
+// Motor 28BYJ-48 has 4096 steps per one revolution
+const int stepsPerRevolution = 4096;  // change this to fit the number of steps per revolution for your motor
+
+/* Custom phase matrix for driver ULN2003.
+ * The sequence of control signals for 8 phases, 4 control wires is as follows:
+ * Step C0 C1 C2 C3
+ *    1  0  0  0  1
+ *    2  0  0  1  1
+ *    3  0  0  1  0
+ *    4  0  1  1  0
+ *    5  0  1  0  0
+ *    6  1  1  0  0
+ *    7  1  0  0  0
+ *    8  1  0  0  1
+ */
+const unsigned char phasesMatrix[8]= {
+  0b00010000,
+  0b00110000,
+  0b00100000,
+  0b01100000,
+  0b01000000,
+  0b11000000,
+  0b10000000,
+  0b10010000
+  };
+
+//initialize the stepper library on pins 8 through 11, phasesMatrix, pin_count, phase_count:
+Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11, 0, (unsigned char*)phasesMatrix, 4, 8);
+
+void setup() {
+  // 17 is the maximum for counterclockwise revolution of motor 28BYJ-48
+  // set the speed at 17 rpm:
+  myStepper.setSpeed(17);
+  // initialize the serial port:
+  Serial.begin(9600);
+}
+
+void loop() {
+  // step one revolution  in one direction:
+  Serial.println("clockwise");
+  myStepper.step(stepsPerRevolution);
+  delay(500);
+
+  // step one revolution in the other direction:
+  Serial.println("counterclockwise");
+  myStepper.step(-stepsPerRevolution);
+  delay(500);
+}
+
diff --git a/libraries/Stepper/src/Stepper.cpp b/libraries/Stepper/src/Stepper.cpp
index 1f76295d05b..c14470a2005 100644
--- a/libraries/Stepper/src/Stepper.cpp
+++ b/libraries/Stepper/src/Stepper.cpp
@@ -1,13 +1,19 @@
 /*
- * Stepper.cpp - Stepper library for Wiring/Arduino - Version 1.1.0
- *
- * Original library        (0.1)   by Tom Igoe.
- * Two-wire modifications  (0.2)   by Sebastian Gassner
- * Combination version     (0.3)   by Tom Igoe and David Mellis
- * Bug fix for four-wire   (0.4)   by Tom Igoe, bug fix from Noah Shibley
- * High-speed stepping mod         by Eugene Kozlenko
- * Timer rollover fix              by Eugene Kozlenko
- * Five phase five wire    (1.1.0) by Ryan Orendorff
+ * Stepper.cpp - Stepper library for Wiring/Arduino - Version 1.1.1
+ *
+ * Original library                     (0.1)   by Tom Igoe.
+ * Two-wire modifications               (0.2)   by Sebastian Gassner
+ * Combination version                  (0.3)   by Tom Igoe and David Mellis
+ * Bug fix for four-wire                (0.4)   by Tom Igoe, bug fix from Noah Shibley
+ * High-speed stepping mod                      by Eugene Kozlenko
+ * Timer rollover fix                           by Eugene Kozlen
+ * Five phase five wire                 (1.1.0) by Ryan Orendorff
+ * Generic driver support (see example
+ * stepper_oneRevolution_ULN2003),
+ * constructors harmonization by
+ * introducing the initMotor method,
+ * optimization of method stepMotor by
+ * introducing the phasesMatrix array   (1.1.1) by Stanislav Kniazev
  *
  * This library is free software; you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public
@@ -84,26 +90,8 @@
  */
 Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2)
 {
-  this->step_number = 0;    // which step the motor is on
-  this->direction = 0;      // motor direction
-  this->last_step_time = 0; // time stamp in us of the last step taken
-  this->number_of_steps = number_of_steps; // total number of steps for this motor
-
-  // Arduino pins for the motor control connection:
-  this->motor_pin_1 = motor_pin_1;
-  this->motor_pin_2 = motor_pin_2;
-
-  // setup the pins on the microcontroller:
-  pinMode(this->motor_pin_1, OUTPUT);
-  pinMode(this->motor_pin_2, OUTPUT);
-
-  // When there are only 2 pins, set the others to 0:
-  this->motor_pin_3 = 0;
-  this->motor_pin_4 = 0;
-  this->motor_pin_5 = 0;
-
-  // pin_count is used by the stepMotor() method:
-  this->pin_count = 2;
+  initMotor(number_of_steps, motor_pin_1, motor_pin_2,
+                             0, 0, 0, (unsigned char*)phasesMatrix2, 2, 4);
 }
 
 
@@ -114,28 +102,9 @@ Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2)
 Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
                                       int motor_pin_3, int motor_pin_4)
 {
-  this->step_number = 0;    // which step the motor is on
-  this->direction = 0;      // motor direction
-  this->last_step_time = 0; // time stamp in us of the last step taken
-  this->number_of_steps = number_of_steps; // total number of steps for this motor
-
-  // Arduino pins for the motor control connection:
-  this->motor_pin_1 = motor_pin_1;
-  this->motor_pin_2 = motor_pin_2;
-  this->motor_pin_3 = motor_pin_3;
-  this->motor_pin_4 = motor_pin_4;
-
-  // setup the pins on the microcontroller:
-  pinMode(this->motor_pin_1, OUTPUT);
-  pinMode(this->motor_pin_2, OUTPUT);
-  pinMode(this->motor_pin_3, OUTPUT);
-  pinMode(this->motor_pin_4, OUTPUT);
-
-  // When there are 4 pins, set the others to 0:
-  this->motor_pin_5 = 0;
-
-  // pin_count is used by the stepMotor() method:
-  this->pin_count = 4;
+  initMotor(number_of_steps, motor_pin_1, motor_pin_2,
+                             motor_pin_3, motor_pin_4,
+                             0, (unsigned char*)phasesMatrix4, 4, 4);
 }
 
 /*
@@ -146,27 +115,24 @@ Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
                                       int motor_pin_3, int motor_pin_4,
                                       int motor_pin_5)
 {
-  this->step_number = 0;    // which step the motor is on
-  this->direction = 0;      // motor direction
-  this->last_step_time = 0; // time stamp in us of the last step taken
-  this->number_of_steps = number_of_steps; // total number of steps for this motor
-
-  // Arduino pins for the motor control connection:
-  this->motor_pin_1 = motor_pin_1;
-  this->motor_pin_2 = motor_pin_2;
-  this->motor_pin_3 = motor_pin_3;
-  this->motor_pin_4 = motor_pin_4;
-  this->motor_pin_5 = motor_pin_5;
-
-  // setup the pins on the microcontroller:
-  pinMode(this->motor_pin_1, OUTPUT);
-  pinMode(this->motor_pin_2, OUTPUT);
-  pinMode(this->motor_pin_3, OUTPUT);
-  pinMode(this->motor_pin_4, OUTPUT);
-  pinMode(this->motor_pin_5, OUTPUT);
+  initMotor(number_of_steps, motor_pin_1, motor_pin_2,
+                             motor_pin_3, motor_pin_4,
+                             motor_pin_5, (unsigned char*)phasesMatrix5, 5, 10);
+}
 
-  // pin_count is used by the stepMotor() method:
-  this->pin_count = 5;
+/*
+ *   universal constructor for motors with maximum five wires
+ *   Sets which wires should control the motor, pointer to the phases matrix, number of pins and phases.
+ */
+Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
+                                      int motor_pin_3, int motor_pin_4,
+                                      int motor_pin_5, unsigned char *phasesMatrix,
+                                      int pin_count,   int phase_count)
+{
+  initMotor(number_of_steps, motor_pin_1, motor_pin_2,
+                             motor_pin_3, motor_pin_4,
+                             motor_pin_5, phasesMatrix,
+                             pin_count,   phase_count);
 }
 
 /*
@@ -185,23 +151,19 @@ void Stepper::step(int steps_to_move)
 {
   int steps_left = abs(steps_to_move);  // how many steps to take
 
-  // determine direction based on whether steps_to_mode is + or -:
-  if (steps_to_move > 0) { this->direction = 1; }
-  if (steps_to_move < 0) { this->direction = 0; }
-
-
   // decrement the number of steps, moving one step each time:
   while (steps_left > 0)
   {
-    unsigned long now = micros();
-    // move only if the appropriate delay has passed:
-    if (now - this->last_step_time >= this->step_delay)
-    {
-      // get the timeStamp of when you stepped:
-      this->last_step_time = now;
+    delayMicroseconds(this->step_delay);  // move only if the appropriate delay has passed
+//    unsigned long now = micros();
+//    // move only if the appropriate delay has passed:
+//    if (now - this->last_step_time >= this->step_delay)
+//    {
+//      // get the timeStamp of when you stepped:
+//      this->last_step_time = now;
       // increment or decrement the step number,
       // depending on direction:
-      if (this->direction == 1)
+      if (steps_to_move >= 0)
       {
         this->step_number++;
         if (this->step_number == this->number_of_steps) {
@@ -217,12 +179,9 @@ void Stepper::step(int steps_to_move)
       }
       // decrement the steps left:
       steps_left--;
-      // step the motor to step number 0, 1, ..., {3 or 10}
-      if (this->pin_count == 5)
-        stepMotor(this->step_number % 10);
-      else
-        stepMotor(this->step_number % 4);
-    }
+      // step the motor to step number 0, 1, ..., {3 or 9}
+      stepMotor(this->step_number % phase_count);
+//    }
   }
 }
 
@@ -231,128 +190,48 @@ void Stepper::step(int steps_to_move)
  */
 void Stepper::stepMotor(int thisStep)
 {
-  if (this->pin_count == 2) {
-    switch (thisStep) {
-      case 0:  // 01
-        digitalWrite(motor_pin_1, LOW);
-        digitalWrite(motor_pin_2, HIGH);
-      break;
-      case 1:  // 11
-        digitalWrite(motor_pin_1, HIGH);
-        digitalWrite(motor_pin_2, HIGH);
-      break;
-      case 2:  // 10
-        digitalWrite(motor_pin_1, HIGH);
-        digitalWrite(motor_pin_2, LOW);
-      break;
-      case 3:  // 00
-        digitalWrite(motor_pin_1, LOW);
-        digitalWrite(motor_pin_2, LOW);
-      break;
-    }
-  }
-  if (this->pin_count == 4) {
-    switch (thisStep) {
-      case 0:  // 1010
-        digitalWrite(motor_pin_1, HIGH);
-        digitalWrite(motor_pin_2, LOW);
-        digitalWrite(motor_pin_3, HIGH);
-        digitalWrite(motor_pin_4, LOW);
-      break;
-      case 1:  // 0110
-        digitalWrite(motor_pin_1, LOW);
-        digitalWrite(motor_pin_2, HIGH);
-        digitalWrite(motor_pin_3, HIGH);
-        digitalWrite(motor_pin_4, LOW);
-      break;
-      case 2:  //0101
-        digitalWrite(motor_pin_1, LOW);
-        digitalWrite(motor_pin_2, HIGH);
-        digitalWrite(motor_pin_3, LOW);
-        digitalWrite(motor_pin_4, HIGH);
-      break;
-      case 3:  //1001
-        digitalWrite(motor_pin_1, HIGH);
-        digitalWrite(motor_pin_2, LOW);
-        digitalWrite(motor_pin_3, LOW);
-        digitalWrite(motor_pin_4, HIGH);
-      break;
-    }
+  unsigned char running_one = 0b10000000;
+  for (int i = 0; i < pin_count; i++, running_one >>= 1){
+    digitalWrite(motor_pin[i], (phasesMatrix[thisStep] & running_one));
   }
+}
 
-  if (this->pin_count == 5) {
-    switch (thisStep) {
-      case 0:  // 01101
-        digitalWrite(motor_pin_1, LOW);
-        digitalWrite(motor_pin_2, HIGH);
-        digitalWrite(motor_pin_3, HIGH);
-        digitalWrite(motor_pin_4, LOW);
-        digitalWrite(motor_pin_5, HIGH);
-        break;
-      case 1:  // 01001
-        digitalWrite(motor_pin_1, LOW);
-        digitalWrite(motor_pin_2, HIGH);
-        digitalWrite(motor_pin_3, LOW);
-        digitalWrite(motor_pin_4, LOW);
-        digitalWrite(motor_pin_5, HIGH);
-        break;
-      case 2:  // 01011
-        digitalWrite(motor_pin_1, LOW);
-        digitalWrite(motor_pin_2, HIGH);
-        digitalWrite(motor_pin_3, LOW);
-        digitalWrite(motor_pin_4, HIGH);
-        digitalWrite(motor_pin_5, HIGH);
-        break;
-      case 3:  // 01010
-        digitalWrite(motor_pin_1, LOW);
-        digitalWrite(motor_pin_2, HIGH);
-        digitalWrite(motor_pin_3, LOW);
-        digitalWrite(motor_pin_4, HIGH);
-        digitalWrite(motor_pin_5, LOW);
-        break;
-      case 4:  // 11010
-        digitalWrite(motor_pin_1, HIGH);
-        digitalWrite(motor_pin_2, HIGH);
-        digitalWrite(motor_pin_3, LOW);
-        digitalWrite(motor_pin_4, HIGH);
-        digitalWrite(motor_pin_5, LOW);
-        break;
-      case 5:  // 10010
-        digitalWrite(motor_pin_1, HIGH);
-        digitalWrite(motor_pin_2, LOW);
-        digitalWrite(motor_pin_3, LOW);
-        digitalWrite(motor_pin_4, HIGH);
-        digitalWrite(motor_pin_5, LOW);
+/*
+ *   Initialize the motor
+ */
+void Stepper::initMotor(int number_of_steps, int motor_pin_1, int motor_pin_2,
+                                    int motor_pin_3, int motor_pin_4,
+                                    int motor_pin_5, unsigned char *phasesMatrix,
+                                    int pin_count,   int phase_count)
+{
+  this->step_number = 0;    // which step the motor is on
+  this->number_of_steps = number_of_steps; // total number of steps for this motor
+
+  // pin_count is used by the stepMotor() method:
+  this->pin_count     = pin_count;
+  // phase_count is used by the step() method:
+  this->phase_count   = phase_count;
+  // phasesMatrix is used by the stepMotor() method:
+  this->phasesMatrix  = phasesMatrix;
+  for (int i = 0; i < this->pin_count; i++){
+    switch (i) {
+      case 0:
+        this->motor_pin[i] = motor_pin_1; // Arduino pin 1 for the motor control connection
         break;
-      case 6:  // 10110
-        digitalWrite(motor_pin_1, HIGH);
-        digitalWrite(motor_pin_2, LOW);
-        digitalWrite(motor_pin_3, HIGH);
-        digitalWrite(motor_pin_4, HIGH);
-        digitalWrite(motor_pin_5, LOW);
+      case 1:
+        this->motor_pin[i] = motor_pin_2; // Arduino pin 2 for the motor control connection
         break;
-      case 7:  // 10100
-        digitalWrite(motor_pin_1, HIGH);
-        digitalWrite(motor_pin_2, LOW);
-        digitalWrite(motor_pin_3, HIGH);
-        digitalWrite(motor_pin_4, LOW);
-        digitalWrite(motor_pin_5, LOW);
+      case 2:
+        this->motor_pin[i] = motor_pin_3; // Arduino pin 3 for the motor control connection
         break;
-      case 8:  // 10101
-        digitalWrite(motor_pin_1, HIGH);
-        digitalWrite(motor_pin_2, LOW);
-        digitalWrite(motor_pin_3, HIGH);
-        digitalWrite(motor_pin_4, LOW);
-        digitalWrite(motor_pin_5, HIGH);
+      case 3:
+        this->motor_pin[i] = motor_pin_4; // Arduino pin 4 for the motor control connection
         break;
-      case 9:  // 00101
-        digitalWrite(motor_pin_1, LOW);
-        digitalWrite(motor_pin_2, LOW);
-        digitalWrite(motor_pin_3, HIGH);
-        digitalWrite(motor_pin_4, LOW);
-        digitalWrite(motor_pin_5, HIGH);
+      case 4:
+        this->motor_pin[i] = motor_pin_5; // Arduino pin 5 for the motor control connection
         break;
-    }
+      }
+    pinMode(this->motor_pin[i], OUTPUT);  // setup the pins on the microcontroller
   }
 }
 
diff --git a/libraries/Stepper/src/Stepper.h b/libraries/Stepper/src/Stepper.h
index 2e68979a1b1..0cd8dcb8dd4 100644
--- a/libraries/Stepper/src/Stepper.h
+++ b/libraries/Stepper/src/Stepper.h
@@ -1,13 +1,19 @@
 /*
- * Stepper.h - Stepper library for Wiring/Arduino - Version 1.1.0
- *
- * Original library        (0.1)   by Tom Igoe.
- * Two-wire modifications  (0.2)   by Sebastian Gassner
- * Combination version     (0.3)   by Tom Igoe and David Mellis
- * Bug fix for four-wire   (0.4)   by Tom Igoe, bug fix from Noah Shibley
- * High-speed stepping mod         by Eugene Kozlenko
- * Timer rollover fix              by Eugene Kozlenko
- * Five phase five wire    (1.1.0) by Ryan Orendorff
+ * Stepper.h - Stepper library for Wiring/Arduino - Version 1.1.1
+ *
+ * Original library                     (0.1)   by Tom Igoe.
+ * Two-wire modifications               (0.2)   by Sebastian Gassner
+ * Combination version                  (0.3)   by Tom Igoe and David Mellis
+ * Bug fix for four-wire                (0.4)   by Tom Igoe, bug fix from Noah Shibley
+ * High-speed stepping mod                      by Eugene Kozlenko
+ * Timer rollover fix                           by Eugene Kozlen
+ * Five phase five wire                 (1.1.0) by Ryan Orendorff
+ * Generic driver support (see example
+ * stepper_oneRevolution_ULN2003),
+ * constructors harmonization by
+ * introducing the initMotor method,
+ * optimization of method stepMotor by
+ * introducing the phasesMatrix array   (1.1.1) by Stanislav Kniazev
  *
  * This library is free software; you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public
@@ -89,6 +95,10 @@ class Stepper {
     Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
                                  int motor_pin_3, int motor_pin_4,
                                  int motor_pin_5);
+    Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
+                                 int motor_pin_3, int motor_pin_4,
+                                 int motor_pin_5, unsigned char *phasesMatrix,
+                                 int pin_count,   int phase_count);
 
     // speed setter method:
     void setSpeed(long whatSpeed);
@@ -100,21 +110,50 @@ class Stepper {
 
   private:
     void stepMotor(int this_step);
+    void initMotor(int number_of_steps, int motor_pin_1, int motor_pin_2,
+                                        int motor_pin_3, int motor_pin_4,
+                                        int motor_pin_5, unsigned char *phasesMatrix,
+                                        int pin_count,   int phase_count);
 
-    int direction;            // Direction of rotation
     unsigned long step_delay; // delay between steps, in ms, based on speed
     int number_of_steps;      // total number of steps this motor can take
     int pin_count;            // how many pins are in use.
+    int phase_count;          // how many phases are in use.
+    unsigned char *phasesMatrix;  // pointer to the phases Matrix
     int step_number;          // which step the motor is on
 
     // motor pin numbers:
-    int motor_pin_1;
-    int motor_pin_2;
-    int motor_pin_3;
-    int motor_pin_4;
-    int motor_pin_5;          // Only 5 phase motor
+    int motor_pin[5];         // Maximum 5 control signals
+
+    //Default phases matrix for 2 control wires is as follows
+    const unsigned char phasesMatrix2[4]  = {
+      0b01000000,
+      0b11000000,
+      0b10000000,
+      0b00000000
+    };
+
+    //Default phases matrix for 4 control wires is as follows
+    const unsigned char phasesMatrix4[4]  = {
+      0b10100000,
+      0b01100000,
+      0b01010000,
+      0b10010000
+    };
 
-    unsigned long last_step_time; // time stamp in us of when the last step was taken
+    //Default phases matrix for 5 control wires is as follows
+    const unsigned char phasesMatrix5[10] = {
+      0b01101000,
+      0b01001000,
+      0b01011000,
+      0b01010000,
+      0b11010000,
+      0b10010000,
+      0b10110000,
+      0b10100000,
+      0b10101000,
+      0b00101000
+    };
 };
 
 #endif

From c046a3f748751da1e165450ff60b0ae8f394d03d Mon Sep 17 00:00:00 2001
From: Stanislav Kniazev <skniazev@gmx.net>
Date: Mon, 7 Dec 2015 23:20:25 +0100
Subject: [PATCH 02/12] PROGMEM approach

This version saves 28 bytes of dynamic memory in library code by using
PROGMEM for driver patterns.
File stepper_oneRevolution_28BYJ48_ULN2003.ino shows, how to use PROGMEM
also for patterns of custom drivers.
---
 .../stepper_oneRevolution_28BYJ48_ULN2003.ino |  2 +-
 libraries/Stepper/src/Stepper.cpp             |  5 +-
 libraries/Stepper/src/Stepper.h               | 64 ++++++++++---------
 3 files changed, 37 insertions(+), 34 deletions(-)

diff --git a/libraries/Stepper/examples/stepper_oneRevolution_28BYJ48_ULN2003/stepper_oneRevolution_28BYJ48_ULN2003.ino b/libraries/Stepper/examples/stepper_oneRevolution_28BYJ48_ULN2003/stepper_oneRevolution_28BYJ48_ULN2003.ino
index dba27e4a40c..9cf87f423b0 100644
--- a/libraries/Stepper/examples/stepper_oneRevolution_28BYJ48_ULN2003/stepper_oneRevolution_28BYJ48_ULN2003.ino
+++ b/libraries/Stepper/examples/stepper_oneRevolution_28BYJ48_ULN2003/stepper_oneRevolution_28BYJ48_ULN2003.ino
@@ -35,7 +35,7 @@ const int stepsPerRevolution = 4096;  // change this to fit the number of steps
  *    7  1  0  0  0
  *    8  1  0  0  1
  */
-const unsigned char phasesMatrix[8]= {
+const unsigned char phasesMatrix[8] PROGMEM = {
   0b00010000,
   0b00110000,
   0b00100000,
diff --git a/libraries/Stepper/src/Stepper.cpp b/libraries/Stepper/src/Stepper.cpp
index c14470a2005..bb0d3c3dc74 100644
--- a/libraries/Stepper/src/Stepper.cpp
+++ b/libraries/Stepper/src/Stepper.cpp
@@ -188,11 +188,12 @@ void Stepper::step(int steps_to_move)
 /*
  * Moves the motor forward or backwards.
  */
-void Stepper::stepMotor(int thisStep)
+void Stepper::stepMotor(int thisPhase)
 {
+  unsigned char phase = pgm_read_byte_near(phasesMatrix + thisPhase);
   unsigned char running_one = 0b10000000;
   for (int i = 0; i < pin_count; i++, running_one >>= 1){
-    digitalWrite(motor_pin[i], (phasesMatrix[thisStep] & running_one));
+    digitalWrite(motor_pin[i], (phase & running_one));
   }
 }
 
diff --git a/libraries/Stepper/src/Stepper.h b/libraries/Stepper/src/Stepper.h
index 0cd8dcb8dd4..2c4ef92c039 100644
--- a/libraries/Stepper/src/Stepper.h
+++ b/libraries/Stepper/src/Stepper.h
@@ -85,6 +85,38 @@
 #ifndef Stepper_h
 #define Stepper_h
 
+#include <avr/pgmspace.h>
+
+    //Default phases matrix for 2 control wires is as follows
+    const unsigned char phasesMatrix2[4]  PROGMEM = {
+      0b01000000,
+      0b11000000,
+      0b10000000,
+      0b00000000
+    };
+
+    //Default phases matrix for 4 control wires is as follows
+    const unsigned char phasesMatrix4[4]  PROGMEM = {
+      0b10100000,
+      0b01100000,
+      0b01010000,
+      0b10010000
+    };
+
+    //Default phases matrix for 5 control wires is as follows
+    const unsigned char phasesMatrix5[10] PROGMEM = {
+      0b01101000,
+      0b01001000,
+      0b01011000,
+      0b01010000,
+      0b11010000,
+      0b10010000,
+      0b10110000,
+      0b10100000,
+      0b10101000,
+      0b00101000
+    };
+
 // library interface description
 class Stepper {
   public:
@@ -109,7 +141,7 @@ class Stepper {
     int version(void);
 
   private:
-    void stepMotor(int this_step);
+    void stepMotor(int thisPhase);
     void initMotor(int number_of_steps, int motor_pin_1, int motor_pin_2,
                                         int motor_pin_3, int motor_pin_4,
                                         int motor_pin_5, unsigned char *phasesMatrix,
@@ -124,36 +156,6 @@ class Stepper {
 
     // motor pin numbers:
     int motor_pin[5];         // Maximum 5 control signals
-
-    //Default phases matrix for 2 control wires is as follows
-    const unsigned char phasesMatrix2[4]  = {
-      0b01000000,
-      0b11000000,
-      0b10000000,
-      0b00000000
-    };
-
-    //Default phases matrix for 4 control wires is as follows
-    const unsigned char phasesMatrix4[4]  = {
-      0b10100000,
-      0b01100000,
-      0b01010000,
-      0b10010000
-    };
-
-    //Default phases matrix for 5 control wires is as follows
-    const unsigned char phasesMatrix5[10] = {
-      0b01101000,
-      0b01001000,
-      0b01011000,
-      0b01010000,
-      0b11010000,
-      0b10010000,
-      0b10110000,
-      0b10100000,
-      0b10101000,
-      0b00101000
-    };
 };
 
 #endif

From 9f55a756a98296d7a5db77e996bc4e8ded0b3d7c Mon Sep 17 00:00:00 2001
From: Stanislav Kniazev <skniazev@gmx.net>
Date: Tue, 8 Dec 2015 00:00:03 +0100
Subject: [PATCH 03/12] unsigned char approach

This version saves further 7 bytes of dynamic memory by changing
unnessary int variables for unsigned char in private methods and
members. 100% compatibility with the current version of master branch.
---
 libraries/Stepper/src/Stepper.cpp | 30 +++++++++++-------------------
 libraries/Stepper/src/Stepper.h   | 16 ++++++++--------
 2 files changed, 19 insertions(+), 27 deletions(-)

diff --git a/libraries/Stepper/src/Stepper.cpp b/libraries/Stepper/src/Stepper.cpp
index bb0d3c3dc74..a824ef54ac3 100644
--- a/libraries/Stepper/src/Stepper.cpp
+++ b/libraries/Stepper/src/Stepper.cpp
@@ -94,7 +94,6 @@ Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2)
                              0, 0, 0, (unsigned char*)phasesMatrix2, 2, 4);
 }
 
-
 /*
  *   constructor for four-pin version
  *   Sets which wires should control the motor.
@@ -155,44 +154,37 @@ void Stepper::step(int steps_to_move)
   while (steps_left > 0)
   {
     delayMicroseconds(this->step_delay);  // move only if the appropriate delay has passed
-//    unsigned long now = micros();
-//    // move only if the appropriate delay has passed:
-//    if (now - this->last_step_time >= this->step_delay)
-//    {
-//      // get the timeStamp of when you stepped:
-//      this->last_step_time = now;
       // increment or decrement the step number,
       // depending on direction:
       if (steps_to_move >= 0)
       {
         this->step_number++;
-        if (this->step_number == this->number_of_steps) {
+        if (this->step_number >= this->number_of_steps) {
           this->step_number = 0;
         }
       }
       else
       {
-        if (this->step_number == 0) {
+        if (this->step_number <= 0) {
           this->step_number = this->number_of_steps;
         }
         this->step_number--;
       }
-      // decrement the steps left:
-      steps_left--;
       // step the motor to step number 0, 1, ..., {3 or 9}
       stepMotor(this->step_number % phase_count);
-//    }
+      // decrement the steps left:
+      steps_left--;
   }
 }
 
 /*
  * Moves the motor forward or backwards.
  */
-void Stepper::stepMotor(int thisPhase)
+void Stepper::stepMotor(unsigned char thisPhase)
 {
   unsigned char phase = pgm_read_byte_near(phasesMatrix + thisPhase);
   unsigned char running_one = 0b10000000;
-  for (int i = 0; i < pin_count; i++, running_one >>= 1){
+  for (unsigned char i = 0; i < pin_count; i++, running_one >>= 1){
     digitalWrite(motor_pin[i], (phase & running_one));
   }
 }
@@ -200,10 +192,10 @@ void Stepper::stepMotor(int thisPhase)
 /*
  *   Initialize the motor
  */
-void Stepper::initMotor(int number_of_steps, int motor_pin_1, int motor_pin_2,
-                                    int motor_pin_3, int motor_pin_4,
-                                    int motor_pin_5, unsigned char *phasesMatrix,
-                                    int pin_count,   int phase_count)
+void Stepper::initMotor(int number_of_steps,  unsigned char motor_pin_1,  unsigned char motor_pin_2,
+                                              unsigned char motor_pin_3,  unsigned char motor_pin_4,
+                                              unsigned char motor_pin_5,  unsigned char *phasesMatrix,
+                                              unsigned char pin_count,    unsigned char phase_count)
 {
   this->step_number = 0;    // which step the motor is on
   this->number_of_steps = number_of_steps; // total number of steps for this motor
@@ -214,7 +206,7 @@ void Stepper::initMotor(int number_of_steps, int motor_pin_1, int motor_pin_2,
   this->phase_count   = phase_count;
   // phasesMatrix is used by the stepMotor() method:
   this->phasesMatrix  = phasesMatrix;
-  for (int i = 0; i < this->pin_count; i++){
+  for (unsigned char i = 0; i < this->pin_count; i++){
     switch (i) {
       case 0:
         this->motor_pin[i] = motor_pin_1; // Arduino pin 1 for the motor control connection
diff --git a/libraries/Stepper/src/Stepper.h b/libraries/Stepper/src/Stepper.h
index 2c4ef92c039..b5f333e4a21 100644
--- a/libraries/Stepper/src/Stepper.h
+++ b/libraries/Stepper/src/Stepper.h
@@ -141,21 +141,21 @@ class Stepper {
     int version(void);
 
   private:
-    void stepMotor(int thisPhase);
-    void initMotor(int number_of_steps, int motor_pin_1, int motor_pin_2,
-                                        int motor_pin_3, int motor_pin_4,
-                                        int motor_pin_5, unsigned char *phasesMatrix,
-                                        int pin_count,   int phase_count);
+    void stepMotor(unsigned char thisPhase);
+    void initMotor(int number_of_steps, unsigned char motor_pin_1,  unsigned char motor_pin_2,
+                                        unsigned char motor_pin_3,  unsigned char motor_pin_4,
+                                        unsigned char motor_pin_5,  unsigned char *phasesMatrix,
+                                        unsigned char pin_count,    unsigned char phase_count);
 
     unsigned long step_delay; // delay between steps, in ms, based on speed
     int number_of_steps;      // total number of steps this motor can take
-    int pin_count;            // how many pins are in use.
-    int phase_count;          // how many phases are in use.
+    unsigned char pin_count;      // how many pins are in use.
+    unsigned char phase_count;    // how many phases are in use.
     unsigned char *phasesMatrix;  // pointer to the phases Matrix
     int step_number;          // which step the motor is on
 
     // motor pin numbers:
-    int motor_pin[5];         // Maximum 5 control signals
+    unsigned char motor_pin[5];   // Maximum 5 control signals
 };
 
 #endif

From a6e3b3caf26c237f10567385209036eb8fe19e96 Mon Sep 17 00:00:00 2001
From: Stanislav Kniazev <skniazev@gmx.net>
Date: Wed, 9 Dec 2015 23:38:59 +0100
Subject: [PATCH 04/12] Prevent division by zero in method setSpeed

Prevent division by zero in method setSpeed
---
 libraries/Stepper/src/Stepper.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/Stepper/src/Stepper.cpp b/libraries/Stepper/src/Stepper.cpp
index a824ef54ac3..2b26a1a15c0 100644
--- a/libraries/Stepper/src/Stepper.cpp
+++ b/libraries/Stepper/src/Stepper.cpp
@@ -139,7 +139,7 @@ Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
  */
 void Stepper::setSpeed(long whatSpeed)
 {
-  this->step_delay = 60L * 1000L * 1000L / this->number_of_steps / whatSpeed;
+  this->step_delay = (whatSpeed) ? 60L * 1000L * 1000L / this->number_of_steps / whatSpeed : 0;
 }
 
 /*

From a9278c5c9cfe860a2a6342fd02d7288167d28f34 Mon Sep 17 00:00:00 2001
From: Stanislav Kniazev <skniazev@gmx.net>
Date: Wed, 9 Dec 2015 23:56:39 +0100
Subject: [PATCH 05/12] Optimization of method initMotor()

Optimization of method initMotor() by refusing of the case switch
---
 libraries/Stepper/src/Stepper.cpp | 22 +++++-----------------
 1 file changed, 5 insertions(+), 17 deletions(-)

diff --git a/libraries/Stepper/src/Stepper.cpp b/libraries/Stepper/src/Stepper.cpp
index 2b26a1a15c0..4efd35f2ba0 100644
--- a/libraries/Stepper/src/Stepper.cpp
+++ b/libraries/Stepper/src/Stepper.cpp
@@ -206,24 +206,12 @@ void Stepper::initMotor(int number_of_steps,  unsigned char motor_pin_1,  unsign
   this->phase_count   = phase_count;
   // phasesMatrix is used by the stepMotor() method:
   this->phasesMatrix  = phasesMatrix;
+  this->motor_pin[0] = motor_pin_1;
+  this->motor_pin[1] = motor_pin_2;
+  this->motor_pin[2] = motor_pin_3;
+  this->motor_pin[3] = motor_pin_4;
+  this->motor_pin[4] = motor_pin_5;
   for (unsigned char i = 0; i < this->pin_count; i++){
-    switch (i) {
-      case 0:
-        this->motor_pin[i] = motor_pin_1; // Arduino pin 1 for the motor control connection
-        break;
-      case 1:
-        this->motor_pin[i] = motor_pin_2; // Arduino pin 2 for the motor control connection
-        break;
-      case 2:
-        this->motor_pin[i] = motor_pin_3; // Arduino pin 3 for the motor control connection
-        break;
-      case 3:
-        this->motor_pin[i] = motor_pin_4; // Arduino pin 4 for the motor control connection
-        break;
-      case 4:
-        this->motor_pin[i] = motor_pin_5; // Arduino pin 5 for the motor control connection
-        break;
-      }
     pinMode(this->motor_pin[i], OUTPUT);  // setup the pins on the microcontroller
   }
 }

From 0a4ea580b376d9398676c67f56ca4873dca6d71c Mon Sep 17 00:00:00 2001
From: Stanislav Kniazev <skniazev@gmx.net>
Date: Thu, 17 Dec 2015 22:08:57 +0100
Subject: [PATCH 06/12] Revert "Prevent division by zero in method setSpeed"

This reverts commit a6e3b3caf26c237f10567385209036eb8fe19e96.
---
 libraries/Stepper/src/Stepper.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/Stepper/src/Stepper.cpp b/libraries/Stepper/src/Stepper.cpp
index 4efd35f2ba0..c18666562fd 100644
--- a/libraries/Stepper/src/Stepper.cpp
+++ b/libraries/Stepper/src/Stepper.cpp
@@ -139,7 +139,7 @@ Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
  */
 void Stepper::setSpeed(long whatSpeed)
 {
-  this->step_delay = (whatSpeed) ? 60L * 1000L * 1000L / this->number_of_steps / whatSpeed : 0;
+  this->step_delay = 60L * 1000L * 1000L / this->number_of_steps / whatSpeed;
 }
 
 /*

From 8ed5d414b589b4f4c2cd44368cf21949179ec119 Mon Sep 17 00:00:00 2001
From: Stanislav Kniazev <skniazev@gmx.net>
Date: Thu, 17 Dec 2015 23:55:54 +0100
Subject: [PATCH 07/12] Change of pin numbering

renumber the pin number argument names, e.g. start at motor_pin_0, to
prevent confusing between the argument names and the array positions
---
 libraries/Stepper/src/Stepper.cpp | 52 +++++++++++++++----------------
 libraries/Stepper/src/Stepper.h   | 24 +++++++-------
 2 files changed, 38 insertions(+), 38 deletions(-)

diff --git a/libraries/Stepper/src/Stepper.cpp b/libraries/Stepper/src/Stepper.cpp
index c18666562fd..6284d1e3a3a 100644
--- a/libraries/Stepper/src/Stepper.cpp
+++ b/libraries/Stepper/src/Stepper.cpp
@@ -88,9 +88,9 @@
  * two-wire constructor.
  * Sets which wires should control the motor.
  */
-Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2)
+Stepper::Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1)
 {
-  initMotor(number_of_steps, motor_pin_1, motor_pin_2,
+  initMotor(number_of_steps, motor_pin_0, motor_pin_1,
                              0, 0, 0, (unsigned char*)phasesMatrix2, 2, 4);
 }
 
@@ -98,11 +98,11 @@ Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2)
  *   constructor for four-pin version
  *   Sets which wires should control the motor.
  */
-Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
-                                      int motor_pin_3, int motor_pin_4)
+Stepper::Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1,
+                                      int motor_pin_2, int motor_pin_3)
 {
-  initMotor(number_of_steps, motor_pin_1, motor_pin_2,
-                             motor_pin_3, motor_pin_4,
+  initMotor(number_of_steps, motor_pin_0, motor_pin_1,
+                             motor_pin_2, motor_pin_3,
                              0, (unsigned char*)phasesMatrix4, 4, 4);
 }
 
@@ -110,27 +110,27 @@ Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
  *   constructor for five phase motor with five wires
  *   Sets which wires should control the motor.
  */
-Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
-                                      int motor_pin_3, int motor_pin_4,
-                                      int motor_pin_5)
+Stepper::Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1,
+                                      int motor_pin_2, int motor_pin_3,
+                                      int motor_pin_4)
 {
-  initMotor(number_of_steps, motor_pin_1, motor_pin_2,
-                             motor_pin_3, motor_pin_4,
-                             motor_pin_5, (unsigned char*)phasesMatrix5, 5, 10);
+  initMotor(number_of_steps, motor_pin_0, motor_pin_1,
+                             motor_pin_2, motor_pin_3,
+                             motor_pin_4, (unsigned char*)phasesMatrix5, 5, 10);
 }
 
 /*
  *   universal constructor for motors with maximum five wires
  *   Sets which wires should control the motor, pointer to the phases matrix, number of pins and phases.
  */
-Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
-                                      int motor_pin_3, int motor_pin_4,
-                                      int motor_pin_5, unsigned char *phasesMatrix,
+Stepper::Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1,
+                                      int motor_pin_2, int motor_pin_3,
+                                      int motor_pin_4, unsigned char *phasesMatrix,
                                       int pin_count,   int phase_count)
 {
-  initMotor(number_of_steps, motor_pin_1, motor_pin_2,
-                             motor_pin_3, motor_pin_4,
-                             motor_pin_5, phasesMatrix,
+  initMotor(number_of_steps, motor_pin_0, motor_pin_1,
+                             motor_pin_2, motor_pin_3,
+                             motor_pin_4, phasesMatrix,
                              pin_count,   phase_count);
 }
 
@@ -192,9 +192,9 @@ void Stepper::stepMotor(unsigned char thisPhase)
 /*
  *   Initialize the motor
  */
-void Stepper::initMotor(int number_of_steps,  unsigned char motor_pin_1,  unsigned char motor_pin_2,
-                                              unsigned char motor_pin_3,  unsigned char motor_pin_4,
-                                              unsigned char motor_pin_5,  unsigned char *phasesMatrix,
+void Stepper::initMotor(int number_of_steps,  unsigned char motor_pin_0,  unsigned char motor_pin_1,
+                                              unsigned char motor_pin_2,  unsigned char motor_pin_3,
+                                              unsigned char motor_pin_4,  unsigned char *phasesMatrix,
                                               unsigned char pin_count,    unsigned char phase_count)
 {
   this->step_number = 0;    // which step the motor is on
@@ -206,11 +206,11 @@ void Stepper::initMotor(int number_of_steps,  unsigned char motor_pin_1,  unsign
   this->phase_count   = phase_count;
   // phasesMatrix is used by the stepMotor() method:
   this->phasesMatrix  = phasesMatrix;
-  this->motor_pin[0] = motor_pin_1;
-  this->motor_pin[1] = motor_pin_2;
-  this->motor_pin[2] = motor_pin_3;
-  this->motor_pin[3] = motor_pin_4;
-  this->motor_pin[4] = motor_pin_5;
+  this->motor_pin[0] = motor_pin_0;
+  this->motor_pin[1] = motor_pin_1;
+  this->motor_pin[2] = motor_pin_2;
+  this->motor_pin[3] = motor_pin_3;
+  this->motor_pin[4] = motor_pin_4;
   for (unsigned char i = 0; i < this->pin_count; i++){
     pinMode(this->motor_pin[i], OUTPUT);  // setup the pins on the microcontroller
   }
diff --git a/libraries/Stepper/src/Stepper.h b/libraries/Stepper/src/Stepper.h
index b5f333e4a21..1c8b74921e1 100644
--- a/libraries/Stepper/src/Stepper.h
+++ b/libraries/Stepper/src/Stepper.h
@@ -121,15 +121,15 @@
 class Stepper {
   public:
     // constructors:
-    Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2);
-    Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
-                                 int motor_pin_3, int motor_pin_4);
-    Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
-                                 int motor_pin_3, int motor_pin_4,
-                                 int motor_pin_5);
-    Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
-                                 int motor_pin_3, int motor_pin_4,
-                                 int motor_pin_5, unsigned char *phasesMatrix,
+    Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1);
+    Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1,
+                                 int motor_pin_2, int motor_pin_3);
+    Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1,
+                                 int motor_pin_2, int motor_pin_3,
+                                 int motor_pin_4);
+    Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1,
+                                 int motor_pin_2, int motor_pin_3,
+                                 int motor_pin_4, unsigned char *phasesMatrix,
                                  int pin_count,   int phase_count);
 
     // speed setter method:
@@ -142,9 +142,9 @@ class Stepper {
 
   private:
     void stepMotor(unsigned char thisPhase);
-    void initMotor(int number_of_steps, unsigned char motor_pin_1,  unsigned char motor_pin_2,
-                                        unsigned char motor_pin_3,  unsigned char motor_pin_4,
-                                        unsigned char motor_pin_5,  unsigned char *phasesMatrix,
+    void initMotor(int number_of_steps, unsigned char motor_pin_0,  unsigned char motor_pin_1,
+                                        unsigned char motor_pin_2,  unsigned char motor_pin_3,
+                                        unsigned char motor_pin_4,  unsigned char *phasesMatrix,
                                         unsigned char pin_count,    unsigned char phase_count);
 
     unsigned long step_delay; // delay between steps, in ms, based on speed

From 4c173e37ffd0e47f2c3b792894c6c9889967c07d Mon Sep 17 00:00:00 2001
From: Stanislav Kniazev <skniazev@gmx.net>
Date: Fri, 18 Dec 2015 00:56:22 +0100
Subject: [PATCH 08/12] Right-aligned patterns instead of left-aligned

matthijskooijman wrote:
> I think it might be clearer to right-align the patterns
> instead of left-align. E.g., looking at the first line from
> the 4-phase pattern, that looks like 0b10100000.
> Here, the first 4 bits are meaningful, whereas the last
> 4 bits are zero padding. This makes it harder to read
> this table. By right-aligning, this line would look like
> 0b00001010, or even simpler 0b1010, which makes
> it a lot more clear.

The commit implements this approach.
---
 .../stepper_oneRevolution_28BYJ48_ULN2003.ino | 16 ++++-----
 libraries/Stepper/src/Stepper.cpp             |  4 +--
 libraries/Stepper/src/Stepper.h               | 36 +++++++++----------
 3 files changed, 28 insertions(+), 28 deletions(-)

diff --git a/libraries/Stepper/examples/stepper_oneRevolution_28BYJ48_ULN2003/stepper_oneRevolution_28BYJ48_ULN2003.ino b/libraries/Stepper/examples/stepper_oneRevolution_28BYJ48_ULN2003/stepper_oneRevolution_28BYJ48_ULN2003.ino
index 9cf87f423b0..bb0e86afab9 100644
--- a/libraries/Stepper/examples/stepper_oneRevolution_28BYJ48_ULN2003/stepper_oneRevolution_28BYJ48_ULN2003.ino
+++ b/libraries/Stepper/examples/stepper_oneRevolution_28BYJ48_ULN2003/stepper_oneRevolution_28BYJ48_ULN2003.ino
@@ -36,14 +36,14 @@ const int stepsPerRevolution = 4096;  // change this to fit the number of steps
  *    8  1  0  0  1
  */
 const unsigned char phasesMatrix[8] PROGMEM = {
-  0b00010000,
-  0b00110000,
-  0b00100000,
-  0b01100000,
-  0b01000000,
-  0b11000000,
-  0b10000000,
-  0b10010000
+  0b0001,
+  0b0011,
+  0b0010,
+  0b0110,
+  0b0100,
+  0b1100,
+  0b1000,
+  0b1001
   };
 
 //initialize the stepper library on pins 8 through 11, phasesMatrix, pin_count, phase_count:
diff --git a/libraries/Stepper/src/Stepper.cpp b/libraries/Stepper/src/Stepper.cpp
index 6284d1e3a3a..d3ddaf31a82 100644
--- a/libraries/Stepper/src/Stepper.cpp
+++ b/libraries/Stepper/src/Stepper.cpp
@@ -183,8 +183,8 @@ void Stepper::step(int steps_to_move)
 void Stepper::stepMotor(unsigned char thisPhase)
 {
   unsigned char phase = pgm_read_byte_near(phasesMatrix + thisPhase);
-  unsigned char running_one = 0b10000000;
-  for (unsigned char i = 0; i < pin_count; i++, running_one >>= 1){
+  unsigned char running_one = 1;
+  for (char i = pin_count - 1; i >= 0; i--, running_one <<= 1){
     digitalWrite(motor_pin[i], (phase & running_one));
   }
 }
diff --git a/libraries/Stepper/src/Stepper.h b/libraries/Stepper/src/Stepper.h
index 1c8b74921e1..6420a627c4f 100644
--- a/libraries/Stepper/src/Stepper.h
+++ b/libraries/Stepper/src/Stepper.h
@@ -89,32 +89,32 @@
 
     //Default phases matrix for 2 control wires is as follows
     const unsigned char phasesMatrix2[4]  PROGMEM = {
-      0b01000000,
-      0b11000000,
-      0b10000000,
-      0b00000000
+      0b01,
+      0b11,
+      0b10,
+      0b00
     };
 
     //Default phases matrix for 4 control wires is as follows
     const unsigned char phasesMatrix4[4]  PROGMEM = {
-      0b10100000,
-      0b01100000,
-      0b01010000,
-      0b10010000
+      0b1010,
+      0b0110,
+      0b0101,
+      0b1001
     };
 
     //Default phases matrix for 5 control wires is as follows
     const unsigned char phasesMatrix5[10] PROGMEM = {
-      0b01101000,
-      0b01001000,
-      0b01011000,
-      0b01010000,
-      0b11010000,
-      0b10010000,
-      0b10110000,
-      0b10100000,
-      0b10101000,
-      0b00101000
+      0b01101,
+      0b01001,
+      0b01011,
+      0b01010,
+      0b11010,
+      0b10010,
+      0b10110,
+      0b10100,
+      0b10101,
+      0b00101
     };
 
 // library interface description

From 388460fbb8c5a2f490dd7251bd4ad7e6a81c1362 Mon Sep 17 00:00:00 2001
From: Stanislav Kniazev <skniazev@gmx.net>
Date: Sat, 19 Dec 2015 01:30:24 +0100
Subject: [PATCH 09/12] Change number_of_steps and step_number to unsigned

matthijskooijman wrote:
> Yeah, I think changing the interface is fine.
> Passing in a negative number was never a supported
> case, so there is no correct code that would break
> by the change.
---
 libraries/Stepper/src/Stepper.cpp | 12 ++++++------
 libraries/Stepper/src/Stepper.h   | 14 +++++++-------
 2 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/libraries/Stepper/src/Stepper.cpp b/libraries/Stepper/src/Stepper.cpp
index d3ddaf31a82..e39ca77a340 100644
--- a/libraries/Stepper/src/Stepper.cpp
+++ b/libraries/Stepper/src/Stepper.cpp
@@ -88,7 +88,7 @@
  * two-wire constructor.
  * Sets which wires should control the motor.
  */
-Stepper::Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1)
+Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1)
 {
   initMotor(number_of_steps, motor_pin_0, motor_pin_1,
                              0, 0, 0, (unsigned char*)phasesMatrix2, 2, 4);
@@ -98,7 +98,7 @@ Stepper::Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1)
  *   constructor for four-pin version
  *   Sets which wires should control the motor.
  */
-Stepper::Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1,
+Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
                                       int motor_pin_2, int motor_pin_3)
 {
   initMotor(number_of_steps, motor_pin_0, motor_pin_1,
@@ -110,7 +110,7 @@ Stepper::Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1,
  *   constructor for five phase motor with five wires
  *   Sets which wires should control the motor.
  */
-Stepper::Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1,
+Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
                                       int motor_pin_2, int motor_pin_3,
                                       int motor_pin_4)
 {
@@ -123,7 +123,7 @@ Stepper::Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1,
  *   universal constructor for motors with maximum five wires
  *   Sets which wires should control the motor, pointer to the phases matrix, number of pins and phases.
  */
-Stepper::Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1,
+Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
                                       int motor_pin_2, int motor_pin_3,
                                       int motor_pin_4, unsigned char *phasesMatrix,
                                       int pin_count,   int phase_count)
@@ -165,7 +165,7 @@ void Stepper::step(int steps_to_move)
       }
       else
       {
-        if (this->step_number <= 0) {
+        if (this->step_number == 0) {
           this->step_number = this->number_of_steps;
         }
         this->step_number--;
@@ -192,7 +192,7 @@ void Stepper::stepMotor(unsigned char thisPhase)
 /*
  *   Initialize the motor
  */
-void Stepper::initMotor(int number_of_steps,  unsigned char motor_pin_0,  unsigned char motor_pin_1,
+void Stepper::initMotor(unsigned number_of_steps,  unsigned char motor_pin_0,  unsigned char motor_pin_1,
                                               unsigned char motor_pin_2,  unsigned char motor_pin_3,
                                               unsigned char motor_pin_4,  unsigned char *phasesMatrix,
                                               unsigned char pin_count,    unsigned char phase_count)
diff --git a/libraries/Stepper/src/Stepper.h b/libraries/Stepper/src/Stepper.h
index 6420a627c4f..722c8bef692 100644
--- a/libraries/Stepper/src/Stepper.h
+++ b/libraries/Stepper/src/Stepper.h
@@ -121,13 +121,13 @@
 class Stepper {
   public:
     // constructors:
-    Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1);
-    Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1,
+    Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1);
+    Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
                                  int motor_pin_2, int motor_pin_3);
-    Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1,
+    Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
                                  int motor_pin_2, int motor_pin_3,
                                  int motor_pin_4);
-    Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1,
+    Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
                                  int motor_pin_2, int motor_pin_3,
                                  int motor_pin_4, unsigned char *phasesMatrix,
                                  int pin_count,   int phase_count);
@@ -142,17 +142,17 @@ class Stepper {
 
   private:
     void stepMotor(unsigned char thisPhase);
-    void initMotor(int number_of_steps, unsigned char motor_pin_0,  unsigned char motor_pin_1,
+    void initMotor(unsigned number_of_steps, unsigned char motor_pin_0,  unsigned char motor_pin_1,
                                         unsigned char motor_pin_2,  unsigned char motor_pin_3,
                                         unsigned char motor_pin_4,  unsigned char *phasesMatrix,
                                         unsigned char pin_count,    unsigned char phase_count);
 
     unsigned long step_delay; // delay between steps, in ms, based on speed
-    int number_of_steps;      // total number of steps this motor can take
+    unsigned number_of_steps;     // total number of steps this motor can take
     unsigned char pin_count;      // how many pins are in use.
     unsigned char phase_count;    // how many phases are in use.
     unsigned char *phasesMatrix;  // pointer to the phases Matrix
-    int step_number;          // which step the motor is on
+    unsigned step_number;         // which step the motor is on
 
     // motor pin numbers:
     unsigned char motor_pin[5];   // Maximum 5 control signals

From 5b947dcc35c65ed2653dc4122fcd3700b6dd2b78 Mon Sep 17 00:00:00 2001
From: Stanislav Kniazev <skniazev@gmx.net>
Date: Sat, 19 Dec 2015 02:10:46 +0100
Subject: [PATCH 10/12] Revert implementation of motor delay in method step

Motor delay must support multitasking. See:
https://www.arduino.cc/en/Tutorial/BlinkWithoutDelay
---
 libraries/Stepper/src/Stepper.cpp | 8 +++++++-
 libraries/Stepper/src/Stepper.h   | 1 +
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/libraries/Stepper/src/Stepper.cpp b/libraries/Stepper/src/Stepper.cpp
index e39ca77a340..9f57c7a0b0f 100644
--- a/libraries/Stepper/src/Stepper.cpp
+++ b/libraries/Stepper/src/Stepper.cpp
@@ -153,7 +153,12 @@ void Stepper::step(int steps_to_move)
   // decrement the number of steps, moving one step each time:
   while (steps_left > 0)
   {
-    delayMicroseconds(this->step_delay);  // move only if the appropriate delay has passed
+    unsigned long now = micros();
+    // move only if the appropriate delay has passed:
+    if (now - this->last_step_time >= this->step_delay)
+    {
+      // get the timeStamp of when you stepped:
+      this->last_step_time = now;
       // increment or decrement the step number,
       // depending on direction:
       if (steps_to_move >= 0)
@@ -174,6 +179,7 @@ void Stepper::step(int steps_to_move)
       stepMotor(this->step_number % phase_count);
       // decrement the steps left:
       steps_left--;
+    }
   }
 }
 
diff --git a/libraries/Stepper/src/Stepper.h b/libraries/Stepper/src/Stepper.h
index 722c8bef692..b1d86f53a04 100644
--- a/libraries/Stepper/src/Stepper.h
+++ b/libraries/Stepper/src/Stepper.h
@@ -156,6 +156,7 @@ class Stepper {
 
     // motor pin numbers:
     unsigned char motor_pin[5];   // Maximum 5 control signals
+    unsigned long last_step_time; // time stamp in us of when the last step was taken
 };
 
 #endif

From c1442a5f17d2bae1afb4ef1b5ed7bca9e47c458b Mon Sep 17 00:00:00 2001
From: Stanislav Kniazev <skniazev@gmx.net>
Date: Sat, 19 Dec 2015 03:11:19 +0100
Subject: [PATCH 11/12] Generic constructors without zero parameters

matthijskooijman wrote:
> I don't think the generic constructor's arguments are
> really easy to use, having to pass zeroes for unused
> pins. Why not just add versions of the current
> constructors, but with the added phases matrix
> arguments?

Fixed with this commit.
---
 .../stepper_oneRevolution_28BYJ48_ULN2003.ino |  2 +-
 libraries/Stepper/src/Stepper.cpp             | 72 ++++++++++++++++---
 libraries/Stepper/src/Stepper.h               | 18 +++--
 3 files changed, 78 insertions(+), 14 deletions(-)

diff --git a/libraries/Stepper/examples/stepper_oneRevolution_28BYJ48_ULN2003/stepper_oneRevolution_28BYJ48_ULN2003.ino b/libraries/Stepper/examples/stepper_oneRevolution_28BYJ48_ULN2003/stepper_oneRevolution_28BYJ48_ULN2003.ino
index bb0e86afab9..26c62725339 100644
--- a/libraries/Stepper/examples/stepper_oneRevolution_28BYJ48_ULN2003/stepper_oneRevolution_28BYJ48_ULN2003.ino
+++ b/libraries/Stepper/examples/stepper_oneRevolution_28BYJ48_ULN2003/stepper_oneRevolution_28BYJ48_ULN2003.ino
@@ -47,7 +47,7 @@ const unsigned char phasesMatrix[8] PROGMEM = {
   };
 
 //initialize the stepper library on pins 8 through 11, phasesMatrix, pin_count, phase_count:
-Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11, 0, (unsigned char*)phasesMatrix, 4, 8);
+Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11, 0, 4, (unsigned char*)phasesMatrix, 8);
 
 void setup() {
   // 17 is the maximum for counterclockwise revolution of motor 28BYJ-48
diff --git a/libraries/Stepper/src/Stepper.cpp b/libraries/Stepper/src/Stepper.cpp
index 9f57c7a0b0f..023cf4d2e69 100644
--- a/libraries/Stepper/src/Stepper.cpp
+++ b/libraries/Stepper/src/Stepper.cpp
@@ -91,7 +91,7 @@
 Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1)
 {
   initMotor(number_of_steps, motor_pin_0, motor_pin_1,
-                             0, 0, 0, (unsigned char*)phasesMatrix2, 2, 4);
+                             0, 0, 0, 2, (unsigned char*)phasesMatrix2, 4);
 }
 
 /*
@@ -103,7 +103,7 @@ Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
 {
   initMotor(number_of_steps, motor_pin_0, motor_pin_1,
                              motor_pin_2, motor_pin_3,
-                             0, (unsigned char*)phasesMatrix4, 4, 4);
+                             0, 4, (unsigned char*)phasesMatrix4, 4);
 }
 
 /*
@@ -116,7 +116,61 @@ Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
 {
   initMotor(number_of_steps, motor_pin_0, motor_pin_1,
                              motor_pin_2, motor_pin_3,
-                             motor_pin_4, (unsigned char*)phasesMatrix5, 5, 10);
+                             motor_pin_4, 5, (unsigned char*)phasesMatrix5, 10);
+}
+
+/*
+ *   universal constructor for motors with only one wire
+ *   Sets which wires should control the motor, pointer to the phases matrix, number of pins and phases.
+ */
+Stepper::Stepper(unsigned number_of_steps, int motor_pin_0,
+                 int pin_count, unsigned char *phasesMatrix, int phase_count)
+{
+  initMotor(number_of_steps, motor_pin_0, 0,
+                             0,           0,
+                             0,           pin_count,
+                             phasesMatrix,phase_count);
+}
+
+/*
+ *   universal constructor for motors with maximum two wires
+ *   Sets which wires should control the motor, pointer to the phases matrix, number of pins and phases.
+ */
+Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
+                 int pin_count, unsigned char *phasesMatrix, int phase_count)
+{
+  initMotor(number_of_steps, motor_pin_0, motor_pin_1,
+                             0,           0,
+                             0,           pin_count,
+                             phasesMatrix,phase_count);
+}
+
+/*
+ *   universal constructor for motors with maximum three wires
+ *   Sets which wires should control the motor, pointer to the phases matrix, number of pins and phases.
+ */
+Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
+                 int motor_pin_2, int pin_count,
+                 unsigned char *phasesMatrix, int phase_count)
+{
+  initMotor(number_of_steps, motor_pin_0, motor_pin_1,
+                             motor_pin_2, 0,
+                             0,           pin_count,
+                             phasesMatrix,phase_count);
+}
+
+/*
+ *   universal constructor for motors with maximum four wires
+ *   Sets which wires should control the motor, pointer to the phases matrix, number of pins and phases.
+ */
+Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
+                 int motor_pin_2, int motor_pin_3, int pin_count,
+                 unsigned char *phasesMatrix, int phase_count)
+{
+  initMotor(number_of_steps, motor_pin_0, motor_pin_1,
+                             motor_pin_2, motor_pin_3,
+                             0,           pin_count,
+                             phasesMatrix,phase_count);
 }
 
 /*
@@ -125,13 +179,13 @@ Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
  */
 Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
                                       int motor_pin_2, int motor_pin_3,
-                                      int motor_pin_4, unsigned char *phasesMatrix,
-                                      int pin_count,   int phase_count)
+                                      int motor_pin_4, int pin_count,
+                                      unsigned char *phasesMatrix, int phase_count)
 {
   initMotor(number_of_steps, motor_pin_0, motor_pin_1,
                              motor_pin_2, motor_pin_3,
-                             motor_pin_4, phasesMatrix,
-                             pin_count,   phase_count);
+                             motor_pin_4, pin_count,
+                             phasesMatrix,phase_count);
 }
 
 /*
@@ -200,8 +254,8 @@ void Stepper::stepMotor(unsigned char thisPhase)
  */
 void Stepper::initMotor(unsigned number_of_steps,  unsigned char motor_pin_0,  unsigned char motor_pin_1,
                                               unsigned char motor_pin_2,  unsigned char motor_pin_3,
-                                              unsigned char motor_pin_4,  unsigned char *phasesMatrix,
-                                              unsigned char pin_count,    unsigned char phase_count)
+                                              unsigned char motor_pin_4,  unsigned char pin_count,
+                                              unsigned char *phasesMatrix,unsigned char phase_count)
 {
   this->step_number = 0;    // which step the motor is on
   this->number_of_steps = number_of_steps; // total number of steps for this motor
diff --git a/libraries/Stepper/src/Stepper.h b/libraries/Stepper/src/Stepper.h
index b1d86f53a04..7e118aaaf7a 100644
--- a/libraries/Stepper/src/Stepper.h
+++ b/libraries/Stepper/src/Stepper.h
@@ -127,10 +127,20 @@ class Stepper {
     Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
                                  int motor_pin_2, int motor_pin_3,
                                  int motor_pin_4);
+    Stepper(unsigned number_of_steps, int motor_pin_0,
+            int pin_count, unsigned char *phasesMatrix, int phase_count);
+    Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
+            int pin_count, unsigned char *phasesMatrix, int phase_count);
+    Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
+            int motor_pin_2, int pin_count,
+            unsigned char *phasesMatrix, int phase_count);
+    Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
+            int motor_pin_2, int motor_pin_3, int pin_count,
+            unsigned char *phasesMatrix, int phase_count);
     Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
                                  int motor_pin_2, int motor_pin_3,
-                                 int motor_pin_4, unsigned char *phasesMatrix,
-                                 int pin_count,   int phase_count);
+                                 int motor_pin_4, int pin_count,
+                                 unsigned char *phasesMatrix, int phase_count);
 
     // speed setter method:
     void setSpeed(long whatSpeed);
@@ -144,8 +154,8 @@ class Stepper {
     void stepMotor(unsigned char thisPhase);
     void initMotor(unsigned number_of_steps, unsigned char motor_pin_0,  unsigned char motor_pin_1,
                                         unsigned char motor_pin_2,  unsigned char motor_pin_3,
-                                        unsigned char motor_pin_4,  unsigned char *phasesMatrix,
-                                        unsigned char pin_count,    unsigned char phase_count);
+                                        unsigned char motor_pin_4,  unsigned char pin_count,
+                                        unsigned char *phasesMatrix,unsigned char phase_count);
 
     unsigned long step_delay; // delay between steps, in ms, based on speed
     unsigned number_of_steps;     // total number of steps this motor can take

From de42af93f3378f07a8d57202ea723ecf3f5db136 Mon Sep 17 00:00:00 2001
From: Stanislav Kniazev <skniazev@gmx.net>
Date: Sat, 19 Dec 2015 13:31:25 +0100
Subject: [PATCH 12/12] Removal of pin_count from generic constructors'
 interface

matthijskooijman wrote:
> I think pin_count can be removed here (and below) as well?

Fixed with this commit.
---
 .../stepper_oneRevolution_28BYJ48_ULN2003.ino |  2 +-
 libraries/Stepper/src/Stepper.cpp             | 32 +++++++++----------
 libraries/Stepper/src/Stepper.h               | 14 ++++----
 3 files changed, 22 insertions(+), 26 deletions(-)

diff --git a/libraries/Stepper/examples/stepper_oneRevolution_28BYJ48_ULN2003/stepper_oneRevolution_28BYJ48_ULN2003.ino b/libraries/Stepper/examples/stepper_oneRevolution_28BYJ48_ULN2003/stepper_oneRevolution_28BYJ48_ULN2003.ino
index 26c62725339..7c2d6ba4eca 100644
--- a/libraries/Stepper/examples/stepper_oneRevolution_28BYJ48_ULN2003/stepper_oneRevolution_28BYJ48_ULN2003.ino
+++ b/libraries/Stepper/examples/stepper_oneRevolution_28BYJ48_ULN2003/stepper_oneRevolution_28BYJ48_ULN2003.ino
@@ -47,7 +47,7 @@ const unsigned char phasesMatrix[8] PROGMEM = {
   };
 
 //initialize the stepper library on pins 8 through 11, phasesMatrix, pin_count, phase_count:
-Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11, 0, 4, (unsigned char*)phasesMatrix, 8);
+Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11, (unsigned char*)phasesMatrix, 8);
 
 void setup() {
   // 17 is the maximum for counterclockwise revolution of motor 28BYJ-48
diff --git a/libraries/Stepper/src/Stepper.cpp b/libraries/Stepper/src/Stepper.cpp
index 023cf4d2e69..751624baa09 100644
--- a/libraries/Stepper/src/Stepper.cpp
+++ b/libraries/Stepper/src/Stepper.cpp
@@ -124,67 +124,65 @@ Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
  *   Sets which wires should control the motor, pointer to the phases matrix, number of pins and phases.
  */
 Stepper::Stepper(unsigned number_of_steps, int motor_pin_0,
-                 int pin_count, unsigned char *phasesMatrix, int phase_count)
+                 unsigned char *phasesMatrix, int phase_count)
 {
   initMotor(number_of_steps, motor_pin_0, 0,
                              0,           0,
-                             0,           pin_count,
+                             0,           1,
                              phasesMatrix,phase_count);
 }
 
 /*
- *   universal constructor for motors with maximum two wires
+ *   universal constructor for motors with two wires
  *   Sets which wires should control the motor, pointer to the phases matrix, number of pins and phases.
  */
 Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
-                 int pin_count, unsigned char *phasesMatrix, int phase_count)
+                 unsigned char *phasesMatrix, int phase_count)
 {
   initMotor(number_of_steps, motor_pin_0, motor_pin_1,
                              0,           0,
-                             0,           pin_count,
+                             0,           2,
                              phasesMatrix,phase_count);
 }
 
 /*
- *   universal constructor for motors with maximum three wires
+ *   universal constructor for motors with three wires
  *   Sets which wires should control the motor, pointer to the phases matrix, number of pins and phases.
  */
 Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
-                 int motor_pin_2, int pin_count,
-                 unsigned char *phasesMatrix, int phase_count)
+                 int motor_pin_2, unsigned char *phasesMatrix, int phase_count)
 {
   initMotor(number_of_steps, motor_pin_0, motor_pin_1,
                              motor_pin_2, 0,
-                             0,           pin_count,
+                             0,           3,
                              phasesMatrix,phase_count);
 }
 
 /*
- *   universal constructor for motors with maximum four wires
+ *   universal constructor for motors with four wires
  *   Sets which wires should control the motor, pointer to the phases matrix, number of pins and phases.
  */
 Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
-                 int motor_pin_2, int motor_pin_3, int pin_count,
+                 int motor_pin_2, int motor_pin_3,
                  unsigned char *phasesMatrix, int phase_count)
 {
   initMotor(number_of_steps, motor_pin_0, motor_pin_1,
                              motor_pin_2, motor_pin_3,
-                             0,           pin_count,
+                             0,           4,
                              phasesMatrix,phase_count);
 }
 
 /*
- *   universal constructor for motors with maximum five wires
+ *   universal constructor for motors with five wires
  *   Sets which wires should control the motor, pointer to the phases matrix, number of pins and phases.
  */
 Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
-                                      int motor_pin_2, int motor_pin_3,
-                                      int motor_pin_4, int pin_count,
-                                      unsigned char *phasesMatrix, int phase_count)
+                 int motor_pin_2, int motor_pin_3, int motor_pin_4,
+                 unsigned char *phasesMatrix, int phase_count)
 {
   initMotor(number_of_steps, motor_pin_0, motor_pin_1,
                              motor_pin_2, motor_pin_3,
-                             motor_pin_4, pin_count,
+                             motor_pin_4, 5,
                              phasesMatrix,phase_count);
 }
 
diff --git a/libraries/Stepper/src/Stepper.h b/libraries/Stepper/src/Stepper.h
index 7e118aaaf7a..6f62a52f001 100644
--- a/libraries/Stepper/src/Stepper.h
+++ b/libraries/Stepper/src/Stepper.h
@@ -128,19 +128,17 @@ class Stepper {
                                  int motor_pin_2, int motor_pin_3,
                                  int motor_pin_4);
     Stepper(unsigned number_of_steps, int motor_pin_0,
-            int pin_count, unsigned char *phasesMatrix, int phase_count);
-    Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
-            int pin_count, unsigned char *phasesMatrix, int phase_count);
+            unsigned char *phasesMatrix, int phase_count);
     Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
-            int motor_pin_2, int pin_count,
             unsigned char *phasesMatrix, int phase_count);
     Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
-            int motor_pin_2, int motor_pin_3, int pin_count,
+            int motor_pin_2, unsigned char *phasesMatrix, int phase_count);
+    Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
+            int motor_pin_2, int motor_pin_3,
             unsigned char *phasesMatrix, int phase_count);
     Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
-                                 int motor_pin_2, int motor_pin_3,
-                                 int motor_pin_4, int pin_count,
-                                 unsigned char *phasesMatrix, int phase_count);
+            int motor_pin_2, int motor_pin_3, int motor_pin_4,
+            unsigned char *phasesMatrix, int phase_count);
 
     // speed setter method:
     void setSpeed(long whatSpeed);