StepperTest.py

#!/usr/bin/python
#import Raspi_MotorHAT, Raspi_DCMotor, Raspi_Stepper 
from Raspi_MotorHAT import Raspi_MotorHAT, Raspi_DCMotor, Raspi_StepperMotor

import time
import atexit

# create a default object, no changes to I2C address or frequency
mh = Raspi_MotorHAT(0x6F)

# recommended for auto-disabling motors on shutdown!
def turnOffMotors():
	mh.getMotor(1).run(Raspi_MotorHAT.RELEASE)
	mh.getMotor(2).run(Raspi_MotorHAT.RELEASE)
	mh.getMotor(3).run(Raspi_MotorHAT.RELEASE)
	mh.getMotor(4).run(Raspi_MotorHAT.RELEASE)

atexit.register(turnOffMotors)

myStepper = mh.getStepper(200, 1)  	# 200 steps/rev, motor port #1
myStepper.setSpeed(30)  		# 30 RPM

while (True):
	print("Single coil steps")
	myStepper.step(100, Raspi_MotorHAT.FORWARD,  Raspi_MotorHAT.SINGLE)
	myStepper.step(100, Raspi_MotorHAT.BACKWARD, Raspi_MotorHAT.SINGLE)

	print("Double coil steps")
	myStepper.step(100, Raspi_MotorHAT.FORWARD,  Raspi_MotorHAT.DOUBLE)
	myStepper.step(100, Raspi_MotorHAT.BACKWARD, Raspi_MotorHAT.DOUBLE)

	print("Interleaved coil steps")
	myStepper.step(100, Raspi_MotorHAT.FORWARD,  Raspi_MotorHAT.INTERLEAVE)
	myStepper.step(100, Raspi_MotorHAT.BACKWARD, Raspi_MotorHAT.INTERLEAVE)

	print("Microsteps")
        myStepper.step(100, Raspi_MotorHAT.FORWARD,  Raspi_MotorHAT.MICROSTEP)
        myStepper.step(100, Raspi_MotorHAT.BACKWARD, Raspi_MotorHAT.MICROSTEP)