Editing revision 2 of Mariss' Code
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Mariss Friemanis wrote the original code for the G2002 and sells the finished hardware. You'll find his contact details on http://www.geckodrive.com/ he also sells the Geckodrive range of stepper and servo drives, which work very well with the G2002. This code variant is in essence a test bench for the concept and although some simple front ends exist that can communicate and interact with the G2002 under this code set, the functionality is limited and not particuarly useful in most real-world applications.
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Editing revision 2 of Mariss' Code