// Simulation: https://wokwi.com/projects/364440263181446145
// for https://forum.arduino.cc/t/continuous-rotation-for-stepper-motors/992363 

#include <ContinuousStepper.h> // https://github.com/bblanchon/ArduinoContinuousStepper

const uint8_t stepPin = 2;
const uint8_t dirPin = 3;

ContinuousStepper stepper;

void setup() {
  stepper.begin(stepPin, dirPin);
  stepper.spin(10000);
  Serial.begin(115200);
}

void loop() {
  stepper.loop();
  report();
}

void report(void) {
  const int interval = 1000;
  static unsigned long last = -interval;
  static float lastSpeed = 0;
  unsigned long now = millis();

  if (now - last < interval) return;
  last = now;
  float speed = stepper.speed();
  if (speed != lastSpeed) {
    lastSpeed = speed;
    Serial.print(now);
    Serial.print("ms:");
    Serial.println(speed);
  }
}