diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..8b75678
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+.clangd
diff --git a/README.md b/README.md
index fed57a4..675e3b9 100644
--- a/README.md
+++ b/README.md
@@ -16,6 +16,34 @@ Compile through Arduino IDE or equivalent.
 > Add [kissStepper](https://github.com/risitt/kissStepper) to your project
 > librairies.
 
+## Development
+
+Required dependeinces if not using
+[Arduino IDE](https://www.arduino.cc/en/software/):
+
+- [Arduino CLI](https://docs.arduino.cc/arduino-cli/):
+  - Install:
+    ```sh
+    # linux
+    curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | sh
+
+    # macos
+    brew update
+    brew install arduino-cli
+
+    # windows
+    winget install --id=ArduinoSA.CLI  -e
+    ```
+  - Configure:
+    ```sh
+    arduino-cli config init
+    arduino-cli core update-index
+    arduino-cli core install arduino:avr
+    ```
+
+If you use `clangd` as lsp run `python ./generate_clangd.py` to load arduino
+config and libraries.
+
 ## Contributing
 
 Before `git commit`, run `git clang-format --staged` to format stagged files and
diff --git a/generate_clangd.py b/generate_clangd.py
new file mode 100644
index 0000000..c8d4f83
--- /dev/null
+++ b/generate_clangd.py
@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+
+import os
+import platform
+import yaml
+
+def write_clangd_file(flags):
+    clangd_config = {
+        "CompileFlags": {
+            "Add": flags
+        }
+    }
+
+    with open(".clangd", "w") as f:
+        yaml.dump(clangd_config, f, default_flow_style=False)
+
+def main():
+    arduino_base_path = os.path.expanduser("~/AppData/Local") if platform.system() == "Windows" else os.path.expanduser('~')
+    
+    flags = [
+        "-x", "c++",
+        "-std=gnu++11",
+        "-fpermissive",
+        "-fno-exceptions",
+        "-ffunction-sections",
+        "-fdata-sections",
+        "-fno-threadsafe-statics",
+        "-Wno-error=narrowing",
+        "-flto",
+        "-E",
+        "-CC",
+        "-D__AVR__",
+        "-D__AVR_ATmega328P__",
+        "-DF_CPU=16000000L",
+        "-DARDUINO=10607",
+        "-DARDUINO_AVR_UNO",
+        "-DARDUINO_ARCH_AVR",
+        "-I./include",
+        f"-I{arduino_base_path}/Arduino15/packages/arduino/hardware/avr/1.8.6/cores/arduino",
+        f"-I{arduino_base_path}/Arduino15/packages/arduino/hardware/avr/1.8.6/variants/standard",
+        f"-I{arduino_base_path}/Arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/avr/include",
+        f"-I{arduino_base_path}/Arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/lib/gcc/avr/7.3.0/include",
+    ]
+    
+    write_clangd_file(flags)
+
+if __name__ == "__main__":
+    main()
diff --git a/include/kissStepper.h b/include/kissStepper.h
new file mode 100644
index 0000000..14cbafd
--- /dev/null
+++ b/include/kissStepper.h
@@ -0,0 +1,312 @@
+/*
+kissStepper - a lightweight library for the Easy Driver, Big Easy Driver, Allegro stepper motor drivers and others that use a Step/Dir interface
+Written by Rylee Isitt. September 21, 2015
+License: GNU Lesser General Public License (LGPL) V2.1
+
+Despite the existence of several excellent libraries for driving stepper motors, I created this one to fulfill the following needs:
+- Simplicity
+- Handling of enable, step, and dir pins
+- Based around an external loop
+- Approximately linear acceleration using a fast algorithm
+- High step frequency (or reasonably so, given the overhead involved)
+- Use AVR/ARM libraries and port access to increase performance while keeping the API Arduino-friendly
+- Teensy (Teensyduino) compatibility
+
+Acceleration approximation math is based on Aryeh Eiderman's "Real Time Stepper Motor Linear Ramping Just by Addition and Multiplication", available at http://hwml.com/LeibRamp.pdf
+*/
+
+#ifndef kissStepper_H
+#define kissStepper_H
+
+#include <Arduino.h>
+
+// determine port register size
+#if defined(__AVR__) || defined(__avr__)
+	typedef uint8_t regint;
+#elif defined(TEENSYDUINO)
+	#if defined(__AVR_ATmega32U4__) || defined(__AVR_AT90USB1286__) || defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MKL26Z64__) || defined(__MK64FX512__) || defined(__MK66FX1M0__)
+		typedef uint8_t regint;
+	#else
+		typedef uint32_t regint;
+	#endif
+#else
+	typedef uint32_t regint;
+#endif
+
+
+// the order of enums allows some simple tests:
+// if > STATE_STARTING, motor is in motion
+// if > STATE_RUN, motor is accelerating or decelerating
+enum kissState_t: uint8_t
+{
+    STATE_STOPPED = 0,
+    STATE_STARTING = 1,
+    STATE_RUN = 2,
+    STATE_ACCEL = 3,
+    STATE_DECEL = 4
+};
+
+// ----------------------------------------------------------------------------------------------------
+// ----------------------------------------------------------------------------------------------------
+// ----------------------------------------------------------------------------------------------------
+// kissStepper without acceleration
+// ----------------------------------------------------------------------------------------------------
+// ----------------------------------------------------------------------------------------------------
+// ----------------------------------------------------------------------------------------------------
+
+class kissStepperNoAccel
+{
+public:
+    kissStepperNoAccel(uint8_t PIN_DIR, uint8_t PIN_STEP, uint8_t PIN_ENABLE = 255, bool invertDir = false);
+    kissStepperNoAccel(uint8_t PIN_DIR, uint8_t PIN_STEP, bool invertDir = false);
+    ~kissStepperNoAccel(void) {};
+
+    bool prepareMove(int32_t target);
+    kissState_t move(void);
+    void stop(void);
+
+    uint16_t getCurSpeed(void)
+    {
+        if (m_kissState == STATE_RUN)
+            return m_maxSpeed;
+        else
+            return 0;
+    }
+    kissState_t getState(void)
+    {
+        return m_kissState;
+    }
+    int32_t getPos(void)
+    {
+        if (m_forwards)
+            return m_pos + m_distMoved;
+        else
+            return m_pos - m_distMoved;
+    }
+    bool isEnabled(void)
+    {
+        return m_enabled;
+    }
+    bool isMovingForwards(void)
+    {
+        return m_forwards;
+    }
+    void begin(void);
+    void enable(void);
+    void disable(void);
+
+    void setPos(int32_t pos)
+    {
+        if (m_kissState == STATE_STOPPED)
+            m_pos = constrain(pos, m_reverseLimit, m_forwardLimit);
+    }
+    int32_t getTarget(void)
+    {
+        if (m_kissState == STATE_STOPPED)
+            return m_pos;
+        else if (m_forwards)
+            return m_pos + m_distTotal;
+        else
+            return m_pos - m_distTotal;
+    }
+    uint32_t getDistRemaining(void)
+    {
+        return m_distTotal - m_distMoved;
+    }
+    void setForwardLimit(int32_t forwardLimit)
+    {
+        m_forwardLimit = forwardLimit;
+    }
+    void setReverseLimit(int32_t reverseLimit)
+    {
+        m_reverseLimit = reverseLimit;
+    }
+    int32_t getForwardLimit(void)
+    {
+        return m_forwardLimit;
+    }
+    int32_t getReverseLimit(void)
+    {
+        return m_reverseLimit;
+    }
+    void setMaxSpeed(uint16_t maxSpeed)
+    {
+        if (m_kissState == STATE_STOPPED) m_maxSpeed = maxSpeed;
+    }
+    uint16_t getMaxSpeed(void)
+    {
+        return m_maxSpeed;
+    }
+
+protected:
+    void setDir(bool forwards)
+    {
+        m_forwards = forwards;
+        digitalWrite(PIN_DIR, forwards == m_invertDir);
+    }
+    void updatePos(void)
+    {
+        if (m_forwards)
+            m_pos += m_distMoved;
+        else
+            m_pos -= m_distMoved;
+        m_distMoved = 0;
+    }
+    static const uint32_t ONE_SECOND = 1000000UL;
+    static const uint8_t PULSE_WIDTH_US = 2; // desired width of step pulse (high) in us
+    static const int32_t DEFAULT_FORWARD_LIMIT = 2147483647L;
+    static const int32_t DEFAULT_REVERSE_LIMIT = -2147483648L;
+    static const uint16_t DEFAULT_SPEED = 1600;
+    static const uint16_t INTERVAL_CORRECTION_INCREMENT = 255;
+
+    int32_t m_forwardLimit;
+    int32_t m_reverseLimit;
+    uint16_t m_maxSpeed;
+
+    const uint8_t PIN_DIR;
+    const uint8_t PIN_STEP;
+    const uint8_t PIN_ENABLE;
+
+    kissState_t m_kissState;
+    uint32_t m_distTotal, m_distMoved;
+    bool m_forwards;
+    int32_t m_pos;
+
+	const regint m_stepBit;
+    regint volatile * const m_stepOut;
+	
+    uint32_t m_stepIntervalWhole;
+    uint16_t m_stepIntervalRemainder;
+    uint16_t m_stepIntervalCorrectionCounter;
+    bool m_enabled;
+    uint32_t m_lastStepTime;
+    bool m_invertDir;
+    bool m_init;
+};
+
+// ----------------------------------------------------------------------------------------------------
+// ----------------------------------------------------------------------------------------------------
+// ----------------------------------------------------------------------------------------------------
+// kissStepper WITH acceleration
+// ----------------------------------------------------------------------------------------------------
+// ----------------------------------------------------------------------------------------------------
+// ----------------------------------------------------------------------------------------------------
+
+class kissStepper: public kissStepperNoAccel
+{
+public:
+    kissStepper(uint8_t PIN_DIR, uint8_t PIN_STEP, uint8_t PIN_ENABLE = 255, bool invertDir = false);
+    kissStepper(uint8_t PIN_DIR, uint8_t PIN_STEP, bool invertDir = false);
+    ~kissStepper(void) {};
+    bool prepareMove(int32_t target);
+    kissState_t move(void);
+    void stop(void);
+    
+    uint16_t getCurSpeed(void)
+    {
+        if (m_kissState == STATE_RUN)
+            return m_maxSpeed;
+        else if (m_kissState > STATE_STARTING)
+        {
+            uint32_t curSpeed = ONE_SECOND / m_stepIntervalWhole;
+            if (curSpeed > m_maxSpeed) curSpeed = m_maxSpeed;
+            return curSpeed;
+        }
+        else
+            return 0;
+    }
+    
+    void decelerate(void);
+    uint32_t calcMaxAccelDist(void)
+    {
+        if (m_accel > 0)
+            return ((uint32_t)m_maxSpeed * m_maxSpeed) / (2UL * m_accel);
+        else
+            return 0;
+    }
+    uint32_t getAccelDist(void)
+    {
+        return m_distAccel;
+    }
+    uint32_t getRunDist(void)
+    {
+        return m_distRun - m_distAccel;
+    }
+    uint32_t getDecelDist(void)
+    {
+        return m_distTotal - m_distRun;
+    }
+    void setAccel(uint16_t accel)
+    {
+        if (m_kissState == STATE_STOPPED) m_accel = accel;
+    }
+    uint16_t getAccel(void)
+    {
+        return m_accel;
+    }
+    uint16_t getTopSpeed(void);
+
+protected:
+
+    static const uint16_t DEFAULT_ACCEL = 1600;
+    uint32_t m_distAccel, m_distRun;
+    uint32_t m_topSpeedStepInterval;
+    uint32_t m_minSpeedStepInterval;
+    float m_stepInterval;
+    float m_constMult;
+    uint16_t m_accel;
+
+private:
+
+    /*
+       ----------------------------------------------------------------------------------------------------
+
+           To strike a balance between accuracy and performance, this library uses a set of approximations
+           for calculating stepInterval when accelerating/decelerating. Although this does use floating point
+           math, it is a drastic improvement over exact calculations and better than anything else I've tried.
+
+           There is probably room for further improvement (fixed point or integer math?) but this is good enough.
+
+           exact:
+               stepInterval = ONE_SECOND / newSpeed
+               curSpeed = ONE_SECOND / stepInterval
+               newSpeed = sqrt(curSpeed^2 + 2a)
+               stepInterval = ONE_SECOND / sqrt(curSpeed^2 + 2a)
+
+           approximations:
+               constMult = accel / (ONE_SECOND * ONE_SECOND)
+               q = constMult*stepInterval*stepInterval
+               set q to negative if accelerating
+
+               good precision, fast: stepInterval *= 1.0 + q
+               better precision, slower: stepInterval *= 1.0 + q + q*q
+               best precision, slowest: stepInterval *= 1.0 + q + 1.5*q*q
+
+       ----------------------------------------------------------------------------------------------------
+       */
+
+    float accelStep(float stepInterval, float constMult)
+    {
+        float newStepInterval;
+        float q = -constMult*stepInterval*stepInterval;
+        newStepInterval = stepInterval * (1.0 + q);
+        // newStepInterval = stepInterval * (1.0 + q + q*q); // better accuracy
+        // newStepInterval = stepInterval * (1.0 + q + 1.5*q*q); // best accuracy
+        if (newStepInterval < m_topSpeedStepInterval) newStepInterval = m_topSpeedStepInterval;
+        return newStepInterval;
+    }
+
+    float decelStep(float stepInterval, float constMult)
+    {
+        float newStepInterval;
+        float q = constMult*stepInterval*stepInterval;
+        newStepInterval = stepInterval * (1.0 + q);
+        // newStepInterval = stepInterval * (1.0 + q + q*q); // better accuracy
+        // newStepInterval = stepInterval * (1.0 + q + 1.5*q*q); // best accuracy
+        if (newStepInterval > m_minSpeedStepInterval) newStepInterval = m_minSpeedStepInterval;
+        return newStepInterval;
+    }
+
+};
+
+#endif