Hey Everyone!
About a year ago I modified Stepper.cpp and Servo.cpp for my own uses. I've called it ModServo and ModStepper. The stepper code is non-blocking, meaning as long as you update the stepper frequently, you can put other stuff in your loop. You can control multiple steppers simultaneously, for example.
The ModServo library is just like the old servo library, except you can set the speed of the servos.
Both libraries should be backward compatible with the Servo.cpp and Stepper.cpp (at least the 2009 versions).
I wrote this code a year ago, so I apologize if similar code has come out in the past year and I've been oblivious to it.
Important! The example file ModServo_test.cpp hasn't been tested. I had a very similar, more complicated older test file that works fine, but I haven't had time to create a test setup to test the new, simpler file. If you try it out, please let me know if it's working or not. The libraries themselves were extensively tested.
Here it is:
Enjoy!
Rob