the following examples should show how super easy the programming is. Thanks to the many prepared functions, even complex applications can be written quickly.

The programming is done in C language with the normal board tools of a Raspberry PI, without special libraries.

In this example the rotation of a rotary encoder is output directly to a stepper motor:

    // assign two input ports to the rotary encoder
    init_rotencoder(KEY0, KEY1, -1,-1,-1,-1);
    
    // assign ports for step and direction to the stepper motor PA
    int stepid = create_stepper(OUT0, OUT1, OUT2, 0, 10, -1, -1);
    
    while(1)                          // endless loop
    {
        int steps = getEncSteps(0);   // read Encoder
                                      // if the encoder was actuated
                                      // Output the number of steps to the stepper motor PA
        if(steps != 0) move_stepper(stepid,abs(steps),(steps>0)?1:0,1);
    }

same example as before, but for three axes

    // assign two input ports each to the three rotary encoders
    init_rotencoder(KEY0, KEY1, KEY2, KEY3, IN4, IN5);
    
    // assign the three stepper motor PA ports for step and direction
    int stepidX = create_stepper(OUT0, OUT1, OUT2, 0, 10, -1, -1);
    int stepidY = create_stepper(OUT3, OUT4, OUT5, 0, 10, -1, -1);
    int stepidZ = create_stepper(OUT6, OUT7, OUT8, 0, 10, -1, -1);
    
    while(1)                          // endless loop
    {
        int stepsX = getEncSteps(0);
        int stepsY = getEncSteps(1);
        int stepsZ = getEncSteps(2);
        if(stepsX != 0) move_stepper(stepidX,abs(stepsX),(stepsX>0)?1:0,1);
        if(stepsY != 0) move_stepper(stepidY,abs(stepsY),(stepsY>0)?1:0,1);
        if(stepsZ != 0) move_stepper(stepidZ,abs(stepsZ),(stepsZ>0)?1:0,1);
    }

    gps_open(NULL, NULL, B4800); // use serial IF on RPI board
    
    while(1)
    {
        int az, elev;
        getSunPos(&az, &elev);
        
        char text[200];
        sprintf(s,"Sun is at azimuth:%d deg and elevation:%d deg",az,elev);
        draw_font(text,10,50,1,RED,20);
        sleep(1);
    }