A lightweight Python class for controlling stepper motors using GPIO on a Raspberry Pi via the gpiozero library. Supports 2-pin, 4-pin, and 5-pin motors.

It essentially implements the same Stepper class logic as described in the Arduino Stepper library.

• Compatible with 2-pin, 4-pin, and 5-pin stepper motors
• Forward and reverse movement
• Adjustable stepping delay (speed)
• Arduino-style stepping logic
• Easy integration with gpiozero

• Raspberry Pi with GPIO
• Python 3.9+
• gpiozero library

Place the stepper.py file containing the Stepper class in your project directory.

Install dependencies if not already available. For example:

pip install gpiozero

or

sudo apt install python3-gpiozero

Initialize the object (example for 4-pin motor with 2048 steps):
step_motor = Stepper(2048, 5, 6, 13, 19)

Set the motor speed in rotations per minute (RPM):
step_motor.set_speed(8)

Move the motor one step forward:
step_motor.step(1)

Move the motor one step backward:
step_motor.step(-1)

Stop the motor immediately:
step_motor.stop()

# 4-pin Stepper Motor on Raspberry Pi
from time import sleep
from stepper import Stepper

step_motor = Stepper(2048, 5, 6, 13, 19)
step_motor.set_speed(10)

try:
    while True:
        step_motor.step(1024)
        print("rotated half")
        sleep(2)
        step_motor.step(1024)
        print("rotated half more")
        sleep(2)
        step_motor.step(-1024)
        print("rotated half back")
        sleep(2)
        step_motor.step(-1024)
        print("rotated half more back")
        sleep(2)
except KeyboardInterrupt:
    pass
finally:
    step_motor.stop()

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