adding the files ig

examples/Master/Master.ino

@@ -0,0 +1,20 @@
+#include "I2CStepper.h"
+
+I2CStepper stepper(0x55);
+
+void setup() {
+    stepper.begin();
+    // Optionally scan for devices
+    uint8_t found[10];
+    uint8_t n = stepper.scanDevices(found, 10);
+    Serial.print("Found "); Serial.print(n); Serial.println(" I2C devices.");
+}
+
+void loop() {
+    stepper.setSpeed(50, 1); // Move at 50% speed, forward
+    delay(2000);
+    stepper.setSpeed(50, 0); // Move at 50% speed, backward
+    delay(2000);
+    stepper.stop();
+    delay(1000);
+}

examples/Slave/Slave.ino

@@ -0,0 +1,90 @@
+#include <Wire.h>
+#include <EEPROM.h>
+
+// Stepper pin definitions (adjust as needed)
+#define DIR_PIN  5
+#define STEP_PIN 2
+#define EN_PIN   8
+
+#define ADDR_EEPROM_LOC 0
+#define EEPROM_SIZE 64
+
+#define CMD_CHANGE_ADDR 0xAA
+
+volatile uint8_t i2c_addr = 0x55; // Default I2C address
+
+// Reads the I2C address from EEPROM, returns default if not set
+uint8_t getI2CAddress(uint8_t defaultAddr = 0x55) {
+    uint8_t addr = EEPROM.read(ADDR_EEPROM_LOC);
+    if (addr == 0xFF || addr == 0) addr = defaultAddr;
+    return addr;
+}
+
+// Writes new I2C address to EEPROM and restarts the MCU
+void setI2CAddress(uint8_t newAddr) {
+    EEPROM.write(ADDR_EEPROM_LOC, newAddr);
+    EEPROM.commit();
+    Serial.print("Address changed to: 0x");
+    Serial.println(newAddr, HEX);
+    delay(100);
+    ESP.restart(); // Use NVIC_SystemReset() for STM32, or asm volatile ("  jmp 0"); for AVR
+}
+
+// Stepper control function: move a fixed number of steps
+void moveSteps(uint16_t steps, uint8_t direction, uint16_t speedDelay) {
+    digitalWrite(DIR_PIN, direction);
+    for (uint16_t i = 0; i < steps; i++) {
+        digitalWrite(STEP_PIN, HIGH);
+        delayMicroseconds(speedDelay);
+        digitalWrite(STEP_PIN, LOW);
+        delayMicroseconds(speedDelay);
+    }
+}
+
+// I2C receive event handler
+void receiveEvent(int howMany) {
+    if (howMany < 1) return;
+    uint8_t cmd = Wire.read();
+
+    if (cmd == CMD_CHANGE_ADDR) {
+        if (Wire.available() >= 1) {
+            uint8_t newAddr = Wire.read();
+            setI2CAddress(newAddr);
+            while (Wire.available()) Wire.read(); // Clear buffer
+        }
+        return;
+    }
+
+    // If not a command, treat as speed/direction
+    uint8_t speed = cmd;
+    if (Wire.available() < 1) return;
+    uint8_t direction = Wire.read();
+
+    // Map speed (0-100) to step delay (us): 100 = fast, 1 = slow
+    uint16_t speedDelay = map(speed, 1, 100, 2000, 200); // Tune as needed
+
+    // Move a fixed number of steps for demonstration
+    moveSteps(200, direction, speedDelay); // 200 steps = 1 rev for 1.8° stepper
+}
+
+void setup() {
+    pinMode(DIR_PIN, OUTPUT);
+    pinMode(STEP_PIN, OUTPUT);
+    pinMode(EN_PIN, OUTPUT);
+    digitalWrite(EN_PIN, LOW); // Enable driver
+
+    Serial.begin(115200);
+
+    EEPROM.begin(EEPROM_SIZE);
+    i2c_addr = getI2CAddress(0x55);
+
+    Serial.print("Using I2C address: 0x");
+    Serial.println(i2c_addr, HEX);
+
+    Wire.begin(i2c_addr);
+    Wire.onReceive(receiveEvent);
+}
+
+void loop() {
+    // Nothing needed here
+}