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Stepper motor controller based on FreeRTOS for the ESP8266.
Branch: master
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A proof of concept: ESP8266 alone is more than enough to run steppers, servos and PWMs. There is no need for an auxiliary, slow, ATMEGA.

Youtube video of it in action. RepRap Forum discussion.

Setting Up

  1. You will need a linux machine.
  2. Clone this repository, then create an empty bin directory.
  3. Follow the remaining instructions here.


  • A breakout for ESP8266 that includes I2S pins. I used NodeMCU, ESP12 would do, ESP01 would not.
  • 32-bit buffered output shift register: Shift-out-32-HC595.
  • A4988 or DRV8833 stepper drivers.
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