micros() wrap around

[laurb9]

In PanoController-Firmware which uses StepperDriver, program hangs if asked to move after running for a while (one hour or so).

micros() wraps around at 71 minutes, so it may be the most likely cause.

[laurb9]

Reference: https://www.gammon.com.au/millis

Summary: C wrapping math makes checking for millis() - startTime >= interval work better than millis() >= startTime + interval (which is what microWaitUntil() does). This doesn't explain the hang though (it only skips one interval).