stepper.py

from machine import Pin
from time import sleep_ms
from math import pi
rad = pi/180
dec = 1

class Stepper:
    def __init__(self,pins,steps,speed = 15,max_speep = 28):
        self.pins = pins
        self.to_decs = 1
        self._max_speed = 28
        self.steps_on_360 = steps
        self._speed = speed

    def step(self):
        pass

    def back_step(self):
        pass

    def set_speed(self,new_speed):
        self._speed = new_speed if _max_speed <= new_speed else _max_speed

    def set_rads(self):
        self.to_dec = rad

    def set_decs(self):
        self.to_dec = 1

    def go(self,steps):
        foo = step if steps>0 else back_step
        steps = abs(steps)
        for i in range(steps):
            foo()

    def rotation(self,angle):
        angle *= self.to_decs
        one_step = 360/self.step_on_360
        steps = angle // one_step
        steps = steps if angle - one_step*steps < one_step*(steps+1) -angle else steps + 1
        self.go(steps)