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I would think so. Even the more complicated version (v7) uses only about 7k of code but also uses more variable memory to hold the PEC data. The half-stepping version uses almost all the variable memory.
I've attached both a simple (v2) and the latest version (v7). In the latest I commented out the half stepping as the motors didn't have enough torque in that mode. As a result the comments are a bit out of whack.
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