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FastAccelStepper

  • Software
  • Robot arms and industry
  • Library

A fast alternative to the AccelStepper library that drives stepper motors via step/direction pulses with acceleration control, for many microcontroller platforms.

Source on GitHub: github.com/gin66/FastAccelStepper (opens in a new tab). Facts read at commit 96459ed (opens in a new tab).

Licenses

Code
MIT (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit 96459ed (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Drives stepper motors through a driver IC (such as A4988) using 1-, 2- or 3-wire connections (step, direction, enable).
  • Runs interrupt- or task-driven, with no periodic function to call from the application loop.
  • Supports acceleration and deceleration with per-stepper maximum speed and acceleration, adjustable while running.
  • Offers auto enable, shared enable and direction pins, and a command queue that can start several steppers near-synchronously.
  • Includes an experimental multi-axis planner, FasNAxis, that keeps several axes time-synchronized along one polyline.
  • Supports AVR, Atmel SAM Due, Microchip SAMD51, ESP32 family, Raspberry Pi Pico/Pico 2 and experimentally Teensy 4.0/4.1, with step rates up to 200 kSteps/s on several platforms.

Written by Robotheca from the project's README (opens in a new tab) at commit 96459ed.

Getting started

Difficulty
Beginner
Hardware it needs, as the project states it
Supported platforms include AVR ATmega 168/328, ATmega2560 and ATmega32u4, Atmel SAM Due, Microchip SAMD51, ESP32 variants (ESP32, S2, S3, C3, C6, P4), Raspberry Pi Pico and Pico 2, and Teensy 4.0/4.1 (experimental). External demultiplexers are needed for the 32 I2S steppers.

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
6 Oct 2026 on master
Latest release
None published on GitHub

Checked on GitHub on 16 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.