bbpystepper is a Python module for controlling stepper motors with the BeagleBone Black. The code by default uses full-stepping.

• Adafruit_BBIO

• Log in via SSH and then git clone https://github.com/petebachant/BBpystepper.git
• cd BBpystepper
• python setup.py install

>>> from bbpystepper import Stepper
>>> mystepper = Stepper()
>>> mystepper.rotate(180, 10) # Rotates motor 180 degrees at 10 RPM
>>> mystepper.rotate(-180, 5) # Rotates motor back 180 degrees at 5 RPM
>>> mystepper.angle
0.0

• By default the GPIO pins used are P8_13, P8_14, P8_15, and P8_16. These can be changed by modifying the Stepper.pins list.

• By default the Stepper.steps_per_rev parameter is set to 2048 to match my motor (it has a built-in gearbox).

• The code doesn't keep track of where it ends in the sequence of pins. It simply sets all pins low after a move. This means there could be some additional error in the Stepper.angle variable if the amount of steps moved is not divisible by 4.