I Did some more tests and found that estop (in master branch) works only in one direction:
Code:
#include "TeensyStep.h"
Stepper motor(22, 41);
RotateControl RotCtrl(5, 1000);
StepControl StpCtrl(5, 1000);
void setup() {
motor
.setMaxSpeed(-2000)
.setAcceleration(2000);
RotCtrl.rotateAsync(motor);
delay(1000);
RotCtrl.emergencyStop();
motor.setTargetRel(300); // works
StpCtrl.move(motor);
delay(2000);
motor
.setMaxSpeed(2000)
.setAcceleration(2000);
RotCtrl.rotateAsync(motor);
delay(1000);
RotCtrl.emergencyStop();
motor.setTargetRel(-300); // does not work: moves into wrong direction
StpCtrl.move(motor);
}
void loop() {}