Datasheet

while (True):

print("Single coil steps")

myStepper.step(100, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.SINGLE)

myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.SINGLE)

print("Double coil steps")

myStepper.step(100, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.DOUBLE)

myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.DOUBLE)

print("Interleaved coil steps")

myStepper.step(100, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.INTERLEAVE)

myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.INTERLEAVE)

print("Microsteps")

myStepper.step(100, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.MICROSTEP)

myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.MICROSTEP)

step() - blocking steps

As you can see above, you can step mulitple steps at a time with step()

step(numberofsteps, direction, type)

Where numbersteps is the number of steps to take, direction is either FORWARD or

BACKWARD and type is SINGLE, DOUBLE, INTERLEAVE or MICROSTEP

Note that INTERLEAVE will move half the distance of SINGLE or DOUBLE because there

are twice as many steps. And MICROSTEP will move 1/8 the distance because each

microstep counts as a step!

This is the easiest way to move your stepper but is blocking - that means that the Python

program is completely busy moving the motor. If you have two motors and you call these

two procedures in a row:

stepper1.step(100, Adafruit_MotorHAT.FORWARD, Adafruit_MotorHAT.SINGLE)

stepper2.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.SINGLE)

Then the first stepper will move 100 steps, stop, and then the second stepper will start

moving.

Chances are you'd like to have your motors moving at once!

For that, you'll need to take advantage of Python's ability to multitask with threads which

you can see in DualStepperTest.py

The key part of the DualStepperTest example code is that we define a function that will act

as a 'wrapper' for the step() procedure:

def stepper_worker(stepper, numsteps, direction, style):

https://learn.adafruit.com/adafruit-dc-and-stepper-motor-hat-for-

raspberry-pi

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