Arduino

Stepper code
https://github.com/grbl/grbl/blob/90ad129ad262bd6e785cf11b8387a1c376cdd11a/grbl/config.h // Creates a delay between the direction pin setting and corresponding step pulse by creating // another interrupt (Timer2 compare) to manage it. The main Grbl interrupt (Timer1 compare) // sets the direction pins, and does not immediately set the stepper pins, as it would in // normal operation. The Timer2 compare fires next to set the stepper pins after the step // pulse delay time, and Timer2 overflow will complete the step pulse, except now delayed // by the step pulse time plus the step pulse delay. (Thanks langwadt for the idea!) // NOTE: Uncomment to enable. The recommended delay must be > 3us, and, when added with the // user-supplied step pulse time, the total time must not exceed 127us. Reported successful // values for certain setups have ranged from 5 to 20us. // #define STEP_PULSE_DELAY 10 // Step pulse delay in microseconds. Default disabled.


 * 1) define DWELL_TIME_STEP 50 // Integer (1-255) (milliseconds)