Add ability to stop "step" routine

keywords.txt

@@ -14,6 +14,7 @@ Stepper	KEYWORD1	Stepper
 
 step	KEYWORD2
 setSpeed	KEYWORD2
+stop	KEYWORD2
 version	KEYWORD2
 
 ######################################

src/Stepper.cpp

@@ -177,6 +177,14 @@ void Stepper::setSpeed(long whatSpeed)
   this->step_delay = 60L * 1000L * 1000L / this->number_of_steps / whatSpeed;
 }
 
+/*
+ * Sets the speed in revs per minute
+ */
+void Stepper::stop(void)
+{
+  this->set_stop = true;
+}
+
 /*
  * Moves the motor steps_to_move steps.  If the number is negative,
  * the motor moves in the reverse direction.
@@ -191,7 +199,8 @@ void Stepper::step(int steps_to_move)
 
 
   // decrement the number of steps, moving one step each time:
-  while (steps_left > 0)
+  this->set_stop = false;
+  while (steps_left > 0 && set_stop == false)
   {
     unsigned long now = micros();
     // move only if the appropriate delay has passed:

src/Stepper.h

@@ -96,6 +96,9 @@ class Stepper {
     // mover method:
     void step(int number_of_steps);
 
+    //stop rutine
+    void stop(void);
+
     int version(void);
 
   private: