Two-phase bipolar class supporting full-step single-phase mode

[vgavara]

Develop a class for managing a two-phase bipolar encoder running in full-step single-phase mode.

The class must allow:

• Initializing it by stating the driving mode (by now only full-step single-phase) and encoder resolution.
• Performing a given number of steps in a given direction (clockwise, counterclockwise) at a given speed (rpm). Zero steps must be considered as running the stepper continously.
• Stopping the stepper, indended as not applying current to any of their windings.
• Braking the stepper, intended as applying current to the suitable windings in order to keep it locked.

The class must not block the Arduino main loop.