Well, almost. It is working. Writes the position to serial. It can be overwritten via serial, the motor will turn to that position. Haptic feedback can be turned off. Still misses steps sometimes, but it is rare, and I think this won't be an issue if not only basic Arduino functions are used, but some advanced methods.

The code could be nicer, I have to work on that. I'll upload the current, ugly version anyway. For the impatient.

Some schematics would be great too. I'll do that later.