New library to control a robot with two stepper motors

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hi,
i developing robot uses 2 stepper motors in differential configuration. not find library meet needs, decided make one. library implements class takes care synchronize 2 motors produce programmed motions. methods non-blocking , library works unipolar or bipolar stepper motors. advanced features implemented vibration reduction, energy saving , protection of control circuits.

playground page: http://playground.arduino.cc/main/stepperrobot
google code: https://code.google.com/p/stepper-robot-arduino-lib/
video demo: http://www.youtube.com/watch?v=q-9cnj0gp5q&feature=youtu.be

please post bugs or suggestions have.

regards,
perrotti

i finished basic library documentation in english.
can accessed on google code wiki:
https://code.google.com/p/stepper-robot-arduino-lib/wiki/reference


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