Drive stepper motor drivers (A4988 & compatibles) with acceleration.

Load all files from lib/ onto the MicroPython board.

This controls ONLY the step pin. It uses speed and acceleration variables to pre-calculate a square root acceleration curve, optimal for high-torque applications. Creates a class StepperMotion.

Basic movement and parameter functionality: exampleMotion.py

• __init__(step_pin)

  • Initializes stepper motor with given step pin
  • Parameters:
    • step_pin (int): Pin number for step control

• move(distance, speed=None, accel=None)

  • Moves the stepper motor by a specified distance (in units), with optional speed and acceleration overrides.
  • Parameters:
    • distance (float): Number of units to move (positive only)
    • speed (float, optional): Speed override in units/sec
    • accel (float, optional): Acceleration override

• set_params(accel=None, speed=None, steps_per_unit=None)

  • Updates driver parameters for acceleration, speed, and steps per unit. Parameters:
    • accel (float, optional): New acceleration value
    • speed (float, optional): New speed value
    • steps_per_unit (float, optional): New steps per unit