Merge pull request #20 from adario7/master

Support Different Microsteps Intervals

Author: ladyada

adafruit_motorkit.py

@@ -63,7 +63,7 @@ class MotorKit:
     """Class representing an Adafruit DC & Stepper Motor FeatherWing, Shield or Pi Hat kit.
 
        Automatically uses the I2C bus on a Feather, Metro or Raspberry Pi."""
-    def __init__(self, address=0x60, i2c=None):
+    def __init__(self, address=0x60, i2c=None, steppers_microsteps=16):
         self._motor1 = None
         self._motor2 = None
         self._motor3 = None
@@ -74,6 +74,7 @@ def __init__(self, address=0x60, i2c=None):
             i2c = board.I2C()
         self._pca = PCA9685(i2c, address=address)
         self._pca.frequency = 1600
+        self._steppers_microsteps = steppers_microsteps
 
     # We can save memory usage (~300 bytes) by deduplicating the construction of the objects for
     # each motor. This saves both code size and the number of raw strings (the error message)
@@ -227,7 +228,8 @@ def stepper1(self):
             self._pca.channels[8].duty_cycle = 0xffff
             self._pca.channels[13].duty_cycle = 0xffff
             self._stepper1 = stepper.StepperMotor(self._pca.channels[10], self._pca.channels[9],
-                                                  self._pca.channels[11], self._pca.channels[12])
+                                                  self._pca.channels[11], self._pca.channels[12],
+                                                  microsteps=self._steppers_microsteps)
         return self._stepper1
 
     @property
@@ -261,5 +263,6 @@ def stepper2(self):
             self._pca.channels[7].duty_cycle = 0xffff
             self._pca.channels[2].duty_cycle = 0xffff
             self._stepper2 = stepper.StepperMotor(self._pca.channels[4], self._pca.channels[3],
-                                                  self._pca.channels[5], self._pca.channels[6])
+                                                  self._pca.channels[5], self._pca.channels[6],
+                                                  microsteps=self._steppers_microsteps)
         return self._stepper2