diff --git a/.travis.yml b/.travis.yml
new file mode 100644
index 0000000..4434d66
--- /dev/null
+++ b/.travis.yml
@@ -0,0 +1,4 @@
+language: c
+compiler:
+  - gcc
+script: script/bootstrap.sh
diff --git a/README.md b/README.md
index e5f353c..b97569c 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,7 @@
 # HaxBot
 
+<a href='https://travis-ci.org/sebdah/git-pylint-commit-hook'><img src='https://secure.travis-ci.org/bboortz/HaxBot.png?branch=master'></a>
+
 ## Setting up new environment
 
 * git clone https://github.com/fheutz/HaxBot.git
diff --git a/lib/DistanceSensorLib/DistanceSensorLib.h b/lib/DistanceSensorLib/DistanceSensorLib.h
index 368cf23..7637b5e 100644
--- a/lib/DistanceSensorLib/DistanceSensorLib.h
+++ b/lib/DistanceSensorLib/DistanceSensorLib.h
@@ -27,4 +27,5 @@ class DistanceSensor {
 		//	CONSTANTS
 };
 
+
 #endif
diff --git a/lib/StepperLib/StepperLib.cpp b/lib/StepperLib/StepperLib.cpp
index 84b75e9..aae992d 100644
--- a/lib/StepperLib/StepperLib.cpp
+++ b/lib/StepperLib/StepperLib.cpp
@@ -13,8 +13,6 @@ Stepper::Stepper() {
 	STEPPER1 = AccelStepper(HALFSTEP, defaultMotorPin1, defaultMotorPin3, defaultMotorPin2, defaultMotorPin4);
 	STEPPER2 = AccelStepper(HALFSTEP, defaultMotorPin5, defaultMotorPin7, defaultMotorPin6, defaultMotorPin8);
 
-	delay(1000);
-				
 	initializeStepper(&STEPPER1);
 	initializeStepper(&STEPPER2); 
 }
@@ -23,8 +21,6 @@ Stepper::Stepper(short motor1Pins[], short motor2Pins[]) {
 	STEPPER1 = AccelStepper(HALFSTEP, motor1Pins[0], motor1Pins[2], motor1Pins[1], motor1Pins[3]);
 	STEPPER2 = AccelStepper(HALFSTEP, motor2Pins[0], motor2Pins[2], motor2Pins[1], motor2Pins[3]);
 
-	delay(1000);
-
 	initializeStepper(&STEPPER1);
 	initializeStepper(&STEPPER2); 
 }
@@ -92,4 +88,6 @@ void Stepper::turnRight(int distance) {
   executeMove();
 }
 
-
+uint16_t Stepper::getDistanceToGo() {
+	return _STEPS1;
+}
diff --git a/lib/StepperLib/StepperLib.h b/lib/StepperLib/StepperLib.h
index 6ccbac5..593b98d 100644
--- a/lib/StepperLib/StepperLib.h
+++ b/lib/StepperLib/StepperLib.h
@@ -1,5 +1,5 @@
-#ifndef _DISTANCE_SENSOR_LIB_
-#define _DISTANCE_SENSOR_LIB_
+#ifndef _STEPPER_LIB_
+#define _STEPPER_LIB_
 
 
 #include <Arduino.h>
@@ -20,7 +20,6 @@
 #define defaultMotorPin7  10    // IN3 on the ULN2003 driver 2
 #define defaultMotorPin8  11    // IN4 on the ULN2003 driver 2
 
-
 class Stepper {
 
 	public:
@@ -36,6 +35,7 @@ class Stepper {
 		void moveBackward(int distance);
 		void turnLeft(int distance);
 		void turnRight(int distance);
+		uint16_t getDistanceToGo();
 
 	private:
 
@@ -46,12 +46,13 @@ class Stepper {
 		AccelStepper STEPPER1;
 		AccelStepper STEPPER2;
 		
-		int16_t _STEPS1 = 0;
-		int16_t _STEPS2 = 0;
+		uint16_t _STEPS1 = 0;
+		uint16_t _STEPS2 = 0;
 
 		//	CONSTANTS
-		int16_t _stepperSpeed = 1000;
-		int16_t _stepperMaxSpeed = 2000;
+		uint16_t _stepperSpeed = 1000;
+		uint16_t _stepperMaxSpeed = 2000;
 };
 
+
 #endif
diff --git a/src/HaxBot_with_DistanceSensor/HaxBot_with_DistanceSensor.cpp b/src/HaxBot_with_DistanceSensor/HaxBot_with_DistanceSensor.cpp
new file mode 100644
index 0000000..fd37c1b
--- /dev/null
+++ b/src/HaxBot_with_DistanceSensor/HaxBot_with_DistanceSensor.cpp
@@ -0,0 +1,152 @@
+#include <Arduino.h>
+#include <AccelStepper.h>
+#include <StepperLib.h>
+#include <DistanceSensorLib.h>
+
+
+// #define DEBUG 1
+#define STEPS 4076 / 4
+
+#define FORWARD 0
+#define LEFT 1
+#define RIGHT 2
+#define BACKWARD 4
+
+
+DistanceSensor *ds;
+Stepper *stepper;
+uint16_t loopCount = 0;
+uint16_t loopMaxCount = 10000;
+uint16_t stepOfMove = 0;
+uint8_t turn = FORWARD;
+
+
+
+
+void setup() {
+	Serial.begin(115200);
+	Serial.println("### START PROGRAM ###");
+
+	stepper = new Stepper;
+	ds = new DistanceSensor;
+
+	// Timer0 is already used for millis() - we'll just interrupt somewhere
+	// in the middle and call the "Compare A" function below
+//	OCR0A = 0xAF;
+//	TIMSK0 |= _BV(OCIE0A);
+
+	delay(1000);
+
+}
+
+// Interrupt is called once a millisecond, looks for any new GPS data, and stores it
+//SIGNAL(TIMER0_COMPA_vect) {
+//	Serial.println("timer");
+//} 
+
+
+
+void turnLeft(int distance) {
+	if (stepOfMove == 0) {
+		stepper->turnLeft(distance);
+		stepOfMove = 1;
+	} else {
+		uint16_t distance = stepper->getDistanceToGo();
+		if (distance == 0) {
+			stepOfMove = 0;
+		} else {
+			stepper->executeMove();
+		}
+	}
+}
+
+void turnRight(int distance) {
+	if (stepOfMove == 0) {
+		stepper->turnRight(distance);
+		stepOfMove = 1;
+	} else {
+		uint16_t distance = stepper->getDistanceToGo();
+		if (distance == 0) {
+			stepOfMove = 0;
+		} else {
+			stepper->executeMove();
+		}
+	}
+
+}
+
+void moveForward(int distance) {
+	if (stepOfMove == 0) {
+		stepper->moveForward(distance);
+		stepOfMove = 1;
+	} else {
+		uint16_t distance = stepper->getDistanceToGo();
+		if (distance == 0) {
+			stepOfMove = 0;
+		} else {
+			stepper->executeMove();
+		}
+	}
+}
+
+void moveBackward(int distance) {
+	if (stepOfMove == 0) {
+		stepper->moveBackward(distance);
+		stepOfMove = 1;
+	} else {
+		uint16_t distance = stepper->getDistanceToGo();
+		if (distance == 0) {
+			stepOfMove = 0;
+		} else {
+			stepper->executeMove();
+		}
+	}
+}
+
+
+void loop() {
+
+
+	// detect obstacles
+	if (loopCount % 10001 == 0) {
+		long distance = ds->getDistance();
+	}
+
+	// detect obstacles
+	if (loopCount % 10001 == 0) {
+		long distance = ds->getDistance();
+		Serial.println(distance);
+		if (distance == 0) {
+		} else if (distance < 20) {
+			if (turn == FORWARD) {
+				turn = LEFT;
+				stepOfMove = 0;
+			} else {
+				turn = FORWARD;
+			}
+		} else {
+			turn = FORWARD;
+		}
+		loopCount = 0;
+	}
+
+
+	// move robot
+	if (loopCount % 100 == 0) {
+		if (turn == LEFT) {
+			turnLeft(STEPS);
+		} else if (turn == RIGHT) {
+			turnRight(STEPS);
+		} else if (turn == FORWARD) {
+			moveForward(STEPS);
+		} else if (turn == BACKWARD) {
+			moveBackward(STEPS);
+		}
+	}
+
+
+	loopCount++;
+
+
+}
+
diff --git a/src/HaxBot_with_DistanceSensor/Makefile b/src/HaxBot_with_DistanceSensor/Makefile
new file mode 100644
index 0000000..0bbfc88
--- /dev/null
+++ b/src/HaxBot_with_DistanceSensor/Makefile
@@ -0,0 +1,88 @@
+### DISCLAIMER
+### This is an example Makefile and it MUST be configured to suit your needs.
+### For detailled explanations about all the avalaible options,
+### please refer to https://github.com/sudar/Arduino-Makefile/blob/master/arduino-mk-vars.md
+
+### PROJECT_DIR
+### This is the path to where you have created/cloned your project
+PROJECT_DIR       = ../..
+
+### AVR_GCC_VERSION
+### Check if the version is equal or higher than 4.9
+AVR_GCC_VERSION  := $(shell expr `avr-gcc -dumpversion | cut -f1` \>= 4.9)
+
+### ARDMK_DIR
+### Path to the Arduino-Makefile directory.
+ARDMK_DIR         = $(PROJECT_DIR)/Arduino-Makefile
+
+### ARDUINO_DIR
+### Path to the Arduino application and ressources directory.
+ARDUINO_DIR       = $(PROJECT_DIR)/arduino
+
+### USER_LIB_PATH
+### Path to where the your project's libraries are stored.
+USER_LIB_PATH     :=  $(realpath $(PROJECT_DIR)/lib)
+
+### BOARD_TAG & BOARD_SUB
+### for arduino nano
+#BOARD_TAG   = nano
+#BOARD_SUB   = atmega328
+### for arduino uno
+BOARD_TAG   = uno
+### for arduino mega
+#BOARD_TAG   = mega
+#BOARD_SUB  = atmega2560
+
+### MONITOR_BAUDRATE
+### It must be set to Serial baudrate value you are using.
+MONITOR_BAUDRATE  = 115200
+
+### AVR_TOOLS_DIR
+### Path to the AVR tools directory such as avr-gcc, avr-g++, etc.
+#AVR_TOOLS_DIR     = /usr
+
+### AVRDDUDE
+### Path to avrdude directory.
+AVRDDUDE     = /usr/bin/avrdude
+AVRDUDE_CONF = /etc/avrdude.conf
+#AVRDDUDE          = /home/benni/Arduino/avrdude-6.3
+
+### CFLAGS_STD
+CFLAGS_STD        = -std=gnu11
+
+### CXXFLAGS_STD
+CXXFLAGS_STD      = -std=gnu++11
+
+### CPPFLAGS
+### Flags you might want to set for debugging purpose. Comment to stop.
+CXXFLAGS         = -pedantic -Wall -Wextra
+
+### If avr-gcc -v is higher than 4.9, activate coloring of the output
+ifeq "$(AVR_GCC_VERSION)" "1"
+    CXXFLAGS += -fdiagnostics-color
+endif
+
+### MONITOR_PORT
+### The port your board is connected to. Using an '*' tries all the ports and finds the right one.
+#MONITOR_PORT      = /dev/ttyUSB0
+MONITOR_PORT      = /dev/ttyACM0
+
+### ADUINO PORT
+#ARDUINO_PORT = /dev/ttyUSB0
+ARDUINO_PORT = /dev/ttyACM0
+
+### don't touch this
+CURRENT_DIR       = $(shell basename $(CURDIR))
+
+### OBJDIR
+### This is were you put the binaries you just compile using 'make'
+CURRENT_DIR       = $(shell basename $(CURDIR))
+OBJDIR            = $(PROJECT_DIR)/bin/$(CURRENT_DIR)/$(BOARD_TAG)
+
+# ARDUINO_LIBS
+#ARDUINO_LIBS = DistanceSensorLib StepperLib AccelStepper
+#ARDUINO_LIBS = StepperLib AccelStepper
+
+### path to Arduino.mk, inside the ARDMK_DIR, don't touch.
+include $(ARDMK_DIR)/Arduino.mk
+
diff --git a/test/AccelStepperTest/AccelStepperTest.cpp b/test/AccelStepperTest/AccelStepperTest.cpp
new file mode 100644
index 0000000..6fdce01
--- /dev/null
+++ b/test/AccelStepperTest/AccelStepperTest.cpp
@@ -0,0 +1,80 @@
+#include <Arduino.h>
+#include <AccelStepper.h>
+#define HALFSTEP 8
+
+// motor pins
+#define motorPin1  3     // IN1 on the ULN2003 driver 1
+#define motorPin2  4     // IN2 on the ULN2003 driver 1
+#define motorPin3  5     // IN3 on the ULN2003 driver 1
+#define motorPin4  6     // IN4 on the ULN2003 driver 1
+
+#define motorPin5  8     // IN1 on the ULN2003 driver 2
+#define motorPin6  9     // IN2 on the ULN2003 driver 2
+#define motorPin7  10    // IN3 on the ULN2003 driver 2
+#define motorPin8  11    // IN4 on the ULN2003 driver 2
+
+// Initialize with pin sequence IN1-IN3-IN2-IN4 for using the AccelStepper with 28BYJ-48
+AccelStepper stepper1(HALFSTEP, motorPin1, motorPin3, motorPin2, motorPin4);
+AccelStepper stepper2(HALFSTEP, motorPin5, motorPin7, motorPin6, motorPin8);
+
+// variables
+int turnSteps = 2100; // number of steps for a 90 degree turn
+int lineSteps = -6600; //number of steps to drive straight
+int stepperSpeed = 1000; //speed of the stepper (steps per second)
+int steps1 = 0; // keep track of the step count for motor 1
+int steps2 = 0; // keep track of the step count for motor 2
+
+boolean turn1 = false; //keep track if we are turning or going straight next
+boolean turn2 = false; //keep track if we are turning or going straight next
+
+void setup() {
+  delay(3000); //sime time to put the robot down after swithing it on
+
+  stepper1.setMaxSpeed(2000.0);
+  stepper1.move(1);  // I found this necessary
+  stepper1.setSpeed(stepperSpeed);
+
+  stepper2.setMaxSpeed(2000.0);
+  stepper2.move(-1);  // I found this necessary
+  stepper2.setSpeed(stepperSpeed);
+
+}
+void loop() {
+
+  if (steps1 == 0) {
+    int target = 0;
+    if (turn1 == true) {
+      target = turnSteps;
+    }
+
+    else {
+      target = lineSteps;
+    }
+
+    stepper1.move(target);
+    stepper1.setSpeed(stepperSpeed);
+    turn1 = !turn1;
+  }
+
+  if (steps2 == 0) {
+    int target = 0;
+    if (turn2 == true) {
+      target = turnSteps;
+    }
+
+    else {
+      target = -lineSteps;
+    }
+
+    stepper2.move(target);
+    stepper2.setSpeed(stepperSpeed);
+    turn2 = !turn2;
+  }
+
+  steps1 = stepper1.distanceToGo();
+  steps2 = stepper2.distanceToGo();
+
+  stepper1.runSpeedToPosition();
+  stepper2.runSpeedToPosition();
+}
+
diff --git a/test/AccelStepperTest/Makefile b/test/AccelStepperTest/Makefile
new file mode 100644
index 0000000..bb16c0e
--- /dev/null
+++ b/test/AccelStepperTest/Makefile
@@ -0,0 +1,87 @@
+### DISCLAIMER
+### This is an example Makefile and it MUST be configured to suit your needs.
+### For detailled explanations about all the avalaible options,
+### please refer to https://github.com/sudar/Arduino-Makefile/blob/master/arduino-mk-vars.md
+
+### PROJECT_DIR
+### This is the path to where you have created/cloned your project
+PROJECT_DIR       = ../..
+
+### AVR_GCC_VERSION
+### Check if the version is equal or higher than 4.9
+AVR_GCC_VERSION  := $(shell expr `avr-gcc -dumpversion | cut -f1` \>= 4.9)
+
+### ARDMK_DIR
+### Path to the Arduino-Makefile directory.
+ARDMK_DIR         = $(PROJECT_DIR)/Arduino-Makefile
+
+### ARDUINO_DIR
+### Path to the Arduino application and ressources directory.
+ARDUINO_DIR       = $(PROJECT_DIR)/arduino
+
+### USER_LIB_PATH
+### Path to where the your project's libraries are stored.
+USER_LIB_PATH     :=  $(realpath $(PROJECT_DIR)/lib)
+
+### BOARD_TAG & BOARD_SUB
+### for arduino nano
+#BOARD_TAG   = nano
+#BOARD_SUB   = atmega328
+### for arduino uno
+BOARD_TAG   = uno
+### for arduino mega
+#BOARD_TAG   = mega
+#BOARD_SUB  = atmega2560
+
+### MONITOR_BAUDRATE
+### It must be set to Serial baudrate value you are using.
+MONITOR_BAUDRATE  = 115200
+
+### AVR_TOOLS_DIR
+### Path to the AVR tools directory such as avr-gcc, avr-g++, etc.
+#AVR_TOOLS_DIR     = /usr
+
+### AVRDDUDE
+### Path to avrdude directory.
+AVRDDUDE     = /usr/bin/avrdude
+AVRDUDE_CONF = /etc/avrdude.conf
+#AVRDDUDE          = /home/benni/Arduino/avrdude-6.3
+
+### CFLAGS_STD
+CFLAGS_STD        = -std=gnu11
+
+### CXXFLAGS_STD
+CXXFLAGS_STD      = -std=gnu++11
+
+### CPPFLAGS
+### Flags you might want to set for debugging purpose. Comment to stop.
+CXXFLAGS         = -pedantic -Wall -Wextra
+
+### If avr-gcc -v is higher than 4.9, activate coloring of the output
+ifeq "$(AVR_GCC_VERSION)" "1"
+    CXXFLAGS += -fdiagnostics-color
+endif
+
+### MONITOR_PORT
+### The port your board is connected to. Using an '*' tries all the ports and finds the right one.
+MONITOR_PORT      = /dev/ttyACM0
+#MONITOR_PORT      = /dev/ttyUSB0
+
+### ADUINO PORT
+ARDUINO_PORT = /dev/ttyACM0
+#ARDUINO_PORT = /dev/ttyUSB0
+
+### don't touch this
+CURRENT_DIR       = $(shell basename $(CURDIR))
+
+### OBJDIR
+### This is were you put the binaries you just compile using 'make'
+CURRENT_DIR       = $(shell basename $(CURDIR))
+OBJDIR            = $(PROJECT_DIR)/bin/$(CURRENT_DIR)/$(BOARD_TAG)
+
+# ARDUINO_LIBS
+#ARDUINO_LIBS = StepperLib AccelStepper
+
+### path to Arduino.mk, inside the ARDMK_DIR, don't touch.
+include $(ARDMK_DIR)/Arduino.mk
+
diff --git a/test/DistanceSensorLibDefaultTest/DistanceSensorLibDefaultTest.cpp b/test/DistanceSensorLibDefaultTest/DistanceSensorLibDefaultTest.cpp
index a727891..d0dcc6e 100644
--- a/test/DistanceSensorLibDefaultTest/DistanceSensorLibDefaultTest.cpp
+++ b/test/DistanceSensorLibDefaultTest/DistanceSensorLibDefaultTest.cpp
@@ -5,9 +5,9 @@ DistanceSensor ds;
 uint16_t maxRange = 200;
 
 void setup() {
+	Serial.begin(115200);
 	Serial.println("### START TESTCASE ###");
 
-	Serial.begin(115200);
 	delay(1000);
 
 }
diff --git a/test/DistanceSensorLibDefaultTest/Makefile b/test/DistanceSensorLibDefaultTest/Makefile
index bd854ac..39c1484 100644
--- a/test/DistanceSensorLibDefaultTest/Makefile
+++ b/test/DistanceSensorLibDefaultTest/Makefile
@@ -25,10 +25,10 @@ USER_LIB_PATH     :=  $(realpath $(PROJECT_DIR)/lib)
 
 ### BOARD_TAG & BOARD_SUB
 ### for arduino nano
-BOARD_TAG   = nano
-BOARD_SUB   = atmega328
+#BOARD_TAG   = nano
+#BOARD_SUB   = atmega328
 ### for arduino uno
-#BOARD_TAG   = uno
+BOARD_TAG   = uno
 ### for arduino mega
 #BOARD_TAG   = mega
 #BOARD_SUB  = atmega2560
@@ -64,10 +64,12 @@ endif
 
 ### MONITOR_PORT
 ### The port your board is connected to. Using an '*' tries all the ports and finds the right one.
-MONITOR_PORT      = /dev/ttyUSB0
+MONITOR_PORT      = /dev/ttyACM0
+#MONITOR_PORT      = /dev/ttyUSB0
 
 ### ADUINO PORT
-ARDUINO_PORT = /dev/ttyUSB0
+ARDUINO_PORT = /dev/ttyACM0
+#ARDUINO_PORT = /dev/ttyUSB0
 
 ### don't touch this
 CURRENT_DIR       = $(shell basename $(CURDIR))
diff --git a/test/StepperLibDefaultTest/Makefile b/test/StepperLibDefaultTest/Makefile
index bcc25ce..bb16c0e 100644
--- a/test/StepperLibDefaultTest/Makefile
+++ b/test/StepperLibDefaultTest/Makefile
@@ -25,10 +25,10 @@ USER_LIB_PATH     :=  $(realpath $(PROJECT_DIR)/lib)
 
 ### BOARD_TAG & BOARD_SUB
 ### for arduino nano
-BOARD_TAG   = nano
-BOARD_SUB   = atmega328
+#BOARD_TAG   = nano
+#BOARD_SUB   = atmega328
 ### for arduino uno
-#BOARD_TAG   = uno
+BOARD_TAG   = uno
 ### for arduino mega
 #BOARD_TAG   = mega
 #BOARD_SUB  = atmega2560
@@ -64,10 +64,12 @@ endif
 
 ### MONITOR_PORT
 ### The port your board is connected to. Using an '*' tries all the ports and finds the right one.
-MONITOR_PORT      = /dev/ttyUSB0
+MONITOR_PORT      = /dev/ttyACM0
+#MONITOR_PORT      = /dev/ttyUSB0
 
 ### ADUINO PORT
-ARDUINO_PORT = /dev/ttyUSB0
+ARDUINO_PORT = /dev/ttyACM0
+#ARDUINO_PORT = /dev/ttyUSB0
 
 ### don't touch this
 CURRENT_DIR       = $(shell basename $(CURDIR))
@@ -78,7 +80,7 @@ CURRENT_DIR       = $(shell basename $(CURDIR))
 OBJDIR            = $(PROJECT_DIR)/bin/$(CURRENT_DIR)/$(BOARD_TAG)
 
 # ARDUINO_LIBS
-ARDUINO_LIBS = StepperLib AccelStepper
+#ARDUINO_LIBS = StepperLib AccelStepper
 
 ### path to Arduino.mk, inside the ARDMK_DIR, don't touch.
 include $(ARDMK_DIR)/Arduino.mk
diff --git a/test/StepperLibDefaultTest/StepperLibDefaultTest.cpp b/test/StepperLibDefaultTest/StepperLibDefaultTest.cpp
index ecbf5e4..a3f7c5d 100644
--- a/test/StepperLibDefaultTest/StepperLibDefaultTest.cpp
+++ b/test/StepperLibDefaultTest/StepperLibDefaultTest.cpp
@@ -1,21 +1,20 @@
 #include <Arduino.h>
-#include "StepperLib.h"
+#include <AccelStepper.h>
+#include <StepperLib.h>
 
-Stepper stepper;
+Stepper *stepper;
 
 void setup() {
+	Serial.begin(115200);
 	Serial.println("### START TESTCASE ###");
 
-	Serial.begin(115200);
+	stepper = new Stepper;
 	delay(1000);
-
 }
 
 void loop() {
 
-	stepper.moveForward(1000);
-
-	delay(1000);
+	stepper->moveForward(10000);
 
 }
 
diff --git a/test/StepperLibOneTurnTest/Makefile b/test/StepperLibOneTurnTest/Makefile
new file mode 100644
index 0000000..f93ea1e
--- /dev/null
+++ b/test/StepperLibOneTurnTest/Makefile
@@ -0,0 +1,87 @@
+### DISCLAIMER
+### This is an example Makefile and it MUST be configured to suit your needs.
+### For detailled explanations about all the avalaible options,
+### please refer to https://github.com/sudar/Arduino-Makefile/blob/master/arduino-mk-vars.md
+
+### PROJECT_DIR
+### This is the path to where you have created/cloned your project
+PROJECT_DIR       = ../..
+
+### AVR_GCC_VERSION
+### Check if the version is equal or higher than 4.9
+AVR_GCC_VERSION  := $(shell expr `avr-gcc -dumpversion | cut -f1` \>= 4.9)
+
+### ARDMK_DIR
+### Path to the Arduino-Makefile directory.
+ARDMK_DIR         = $(PROJECT_DIR)/Arduino-Makefile
+
+### ARDUINO_DIR
+### Path to the Arduino application and ressources directory.
+ARDUINO_DIR       = $(PROJECT_DIR)/arduino
+
+### USER_LIB_PATH
+### Path to where the your project's libraries are stored.
+USER_LIB_PATH     :=  $(realpath $(PROJECT_DIR)/lib)
+
+### BOARD_TAG & BOARD_SUB
+### for arduino nano
+#BOARD_TAG   = nano
+#BOARD_SUB   = atmega328
+### for arduino uno
+BOARD_TAG   = uno
+### for arduino mega
+#BOARD_TAG   = mega
+#BOARD_SUB  = atmega2560
+
+### MONITOR_BAUDRATE
+### It must be set to Serial baudrate value you are using.
+MONITOR_BAUDRATE  = 115200
+
+### AVR_TOOLS_DIR
+### Path to the AVR tools directory such as avr-gcc, avr-g++, etc.
+#AVR_TOOLS_DIR     = /usr
+
+### AVRDDUDE
+### Path to avrdude directory.
+AVRDDUDE     = /usr/bin/avrdude
+AVRDUDE_CONF = /etc/avrdude.conf
+#AVRDDUDE          = /home/benni/Arduino/avrdude-6.3
+
+### CFLAGS_STD
+CFLAGS_STD        = -std=gnu11
+
+### CXXFLAGS_STD
+CXXFLAGS_STD      = -std=gnu++11
+
+### CPPFLAGS
+### Flags you might want to set for debugging purpose. Comment to stop.
+CXXFLAGS         = -pedantic -Wall -Wextra
+
+### If avr-gcc -v is higher than 4.9, activate coloring of the output
+ifeq "$(AVR_GCC_VERSION)" "1"
+    CXXFLAGS += -fdiagnostics-color
+endif
+
+### MONITOR_PORT
+### The port your board is connected to. Using an '*' tries all the ports and finds the right one.
+MONITOR_PORT      = /dev/ttyACM0
+#MONITOR_PORT      = /dev/ttyUSB0
+
+### ADUINO PORT
+ARDUINO_PORT = /dev/ttyACM0
+#ARDUINO_PORT = /dev/ttyUSB0
+
+### don't touch this
+CURRENT_DIR       = $(shell basename $(CURDIR))
+
+### OBJDIR
+### This is were you put the binaries you just compile using 'make'
+CURRENT_DIR       = $(shell basename $(CURDIR))
+OBJDIR            = $(PROJECT_DIR)/bin/$(CURRENT_DIR)/$(BOARD_TAG)
+
+# ARDUINO_LIBS
+ARDUINO_LIBS = StepperLib AccelStepper
+
+### path to Arduino.mk, inside the ARDMK_DIR, don't touch.
+include $(ARDMK_DIR)/Arduino.mk
+
diff --git a/test/StepperLibOneTurnTest/StepperLibOneTurnTest.cpp b/test/StepperLibOneTurnTest/StepperLibOneTurnTest.cpp
new file mode 100644
index 0000000..a90d41e
--- /dev/null
+++ b/test/StepperLibOneTurnTest/StepperLibOneTurnTest.cpp
@@ -0,0 +1,41 @@
+#include <Arduino.h>
+#include "StepperLib.h"
+
+short motor1Pins[4] = { 4, 5, 6, 7 };
+short motor2Pins[4] = { 8, 9, 10, 11 };
+
+#define STEPS 4076
+
+
+uint16_t i = 0;
+uint16_t iMax = 4000;
+
+
+Stepper *stepper;
+
+void setup() {
+	Serial.begin(115200);
+	Serial.println("### START TESTCASE ###");
+
+	stepper = new Stepper(motor1Pins, motor2Pins);
+
+
+	delay(1000);
+
+}
+
+void loop() {
+	if (i == 0) {
+		delay(100);
+		stepper->moveForward(STEPS);
+		i++;
+	}
+	uint16_t distance = stepper->getDistanceToGo();
+	if (distance == 0) {
+		i = 0;
+	} else {
+//		stepper->moveForward(distance);
+		stepper->executeMove();
+	}
+}
+