at first i thought i only understood the code wrong but, it runs through the complete self.mode array per step. A code should only jump one array further and not through the complete array. so one step becomes 4.

Thank you very much for uploading this small efficient code.
It saved me a bit of time.

Is it possible to control the speed of the motor?

Is it currently it is sending a step command at the rate of the esp32 clock?

Cheers,
Adrian

I am trying to make a car with 2 stepper motors, but I can not run two motors simultaneously. How can I do that?

With a positive step value, the motor runs CCW in HALF_STEP mode, and CW in FULL_STEP mode. Seems the HALF_STEP direction is incorrect.

I added a step sequence to drive a filter slider in an OPTEC SSP-3A photometer using your code. OPTEC recommends a particular step pattern:

SSP_STEP = [
[1, 1, 0, 0],
[0, 1, 1, 0],
[0, 0, 1, 1],
[1, 0, 0, 1]
]

This also runs CW as expected.

Thanks so much for you code, it was invaluable to get me started on my CCD photometer project.

barko33