Controlling stepper motor

Using Arduino Project Guidance
1

Hi,

I am doing a self balancing robot using stepper motors and I am having a hard time. I need a solution to be assyncronous, I mean, does not lock my main code, and run inside an interrupt with precise timings.

After lots of research the only good result was the one this guy used in this library b-robot/B_ROBOT.ino at master · JJulio/b-robot · GitHub

He uses and ISR interrupt to control 2 motors but that's really really complicated cause I dont want to use microstepping so I will have to change the code to account for frequency change in which the interrupt is called...

Is there any good library around that allows me to control assyncronously stepper motor which is easy to use and does not lock my main code?

2

but that's really really complicated cause I dont want to use microstepping

If the code is already written, why is using microstepping complicated at all? Do you understand WHY the code uses microstepping? Don't you think that that level of positioning just might be required?

Or, is your robot called Lurch?

3

I dont need that level of positioning and it would be nice to know how to change that.