Two changes in this submission. First, added a call to moveAbsolute() in the 'while' loop. This caused most of the changes in log.txt. However, the second, and more interesting, change was to incorporate the stepper class into the interpreter. That caused the acceleration table to be prepended to the log file. I had forgotten that the acceleration class (used by stepper) does this. The reason for putting the stepper into the interpreter is to make an actual call to moveAbsolute(). Currently it's just a stub function. Unfortunately, the changes to Makefile have introduced some really awful dependencies on code location. The least of these problems is that the motor project (also in github) has to be at the same level as parser. More annoying is the lmi (Luminery Micro) library and the FreeRTOS library. If you have trouble building because of these dependencies please let me know and I'll provide another Makefile. Note that this build is still under Cygwin. The plan is to get it building here and then migrate to an IAR project. Currently the motor project builds under both Cygwin and IAR v5.5.