Asynchronous stepper motor library

[otto22]

I have an arduino mega that's connected to two stepper motors.  Each stepper motor has one stop/limit switch that would indicate the end of the travel distance.  I'm using "AccelStepper" library to control the motors.  I'm also using the "Eventually" event-based lib to do perform some action when an event occurs. 

Everything works great in serial fashion. But I need to have a few things run at the same time. The two stepper motors, for example. The issue that I have is AccelStepper is blocking meaning that once I call "runToPosition" function call, nothing else happens unless and until the function returns.  

I looked at "Metro" and "Chrono" packages but again since the "runToPosition" is a blocking function call, everything comes to the halt until the function call returns.

Of course, one thing I can do is move each motor a few degrees in a loop with AccelStepper lib or just pulsing it.  But I was wondering if there is any stepper motor libs that are asynchronous?  Something like fire-and-forget.  Thanks all.

[agentsimon2]

@otto22 Hi. This might help https://forum.arduino.cc/t/2-s...