This is an ESP-32 nonblocking step motor library based on interrupts for Nema17 and 28byj-48 By Antonio Testa, April/2024 Special thanks to @gfvalvo from https://forum.arduino.cc who fixed the error: invalid-use-of-non-static-member-function and gave all tricks to use hardware timers inside the library. Also thanks to @b707 from same forum for valuable suggestions https://forum.arduino.cc/t/error-invalid-use-of-non-static-member-function/1240240 In the main program is mandatory to define the following: #include <NewStepper.h>        //include the NewStepper.h library NewStepper name(5,17,16,4);  //constructor for driver motor pins in1,in2,in3,in4 name.begin(mode);                   //At setup(), issue begin() command to init the library timer and set stepmotor mode operation CONSTRUCTOR: NewStepper name(pin1, pin2, pin3, pin4); name is any name for instance stepmotor uint8_t pin1,2,3,4 reffers to ESP-32 pins connected to in1,2,3,4 of motor driver METHODS: name.begin(uint8_t mode); at setup() section, to init the library timer and step motor model and mode of operation uint8_t mode should be: 0 = For Nema17, 200 steps per turn 1 = For 28byj-48 full step, 2048 steps per turn, low torque, low consumption 2 = For 28byj-48 full step, 2048 steps per turn, high torque, high consumption 3 = For 28byj-48 half step, 4096 steps per turn, middle torque, middle consumption name.run(steps,vel,cw); uint32_t steps is the number of steps to travel uint8_t vel is the speed (from 2 to ...) higher values lower speed boolean cw define direction of turn (true for right, clockwise; false for left, counterclockwise) IMPORTANT: the name.run can only be called if the name.where()==0 name.where(); retun in an uint32_t value the number of steps remainding to motor arrives to destination if name.where()==0 means the motor is already in the last destination and is stopped at this moment name.setms(uint32_t ms); set the ms counter down (nonblock to be used in substitution of delay function). As soon as initiated this ms counter is decremented each millisecond name.getms(); return the ms counter at moment (initial ms value setted by previously name.setms)

correct way to wire step motors to it's driver:

popular drivers for Nema17 and 28byj-48 step motors:

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