drf5n

> Just thinking about the math in terms of what its supposed to represent, the Integral should be cleared when the error changes from negative to positive, or from positive...

> There are other methods though that try to prevent windup earlier, see also https://en.wikipedia.org/wiki/Integral_windup. Why not simply add various options for common features in advanced PID controllers and let...

> I would be nice to have an API to tinker with the internal calculations and one solely to reset the pid. You can get the tinkering ability by moving...

Doesn't this fail to indicate the last step of a motion when _speed goes to 0 and distanceToGo() is 0?

It supports many STEP/DIR drivers like [DRV8825](https://www.pololu.com/product/2133) and [A4988](https://www.pololu.com/product/1182) with: https://github.com/waspinator/AccelStepper/blob/1255ab56820746137aba3d5d788f5d0b9baf6d4a/src/AccelStepper.h#L347 It is a bit wierd, but the plain old non-acceleration [Arduino stepper.h library](https://github.com/arduino-libraries/Stepper) can also support STEP/DIR drivers as...

> If you are looking for an actively maintained full featured library that supports hd44780 LCDs using a PCF8574 based backpack, you may want to consider the hd44780 library using...