From a8ca87ecfa338dd0b0e30ac9ce886f93b7c78e4b Mon Sep 17 00:00:00 2001
From: Grazfather <grazfather@gmail.com>
Date: Tue, 22 Apr 2025 15:25:46 -0400
Subject: [PATCH 1/2] esp: Add dumb stepper motor example

---
 examples/espressif/esp/build.zig              |  1 +
 .../espressif/esp/src/stepper_driver_dumb.zig | 56 +++++++++++++++++++
 2 files changed, 57 insertions(+)
 create mode 100644 examples/espressif/esp/src/stepper_driver_dumb.zig

diff --git a/examples/espressif/esp/build.zig b/examples/espressif/esp/build.zig
index 72c4ff521..b244f95c8 100644
--- a/examples/espressif/esp/build.zig
+++ b/examples/espressif/esp/build.zig
@@ -22,6 +22,7 @@ pub fn build(b: *std.Build) void {
         .{ .name = "custom_clock_config", .file = "src/custom_clock_config.zig" },
         .{ .name = "interrupts", .file = "src/interrupts.zig" },
         .{ .name = "stepper_driver", .file = "src/stepper_driver.zig" },
+        .{ .name = "stepper_driver_dumb", .file = "src/stepper_driver_dumb.zig" },
     };
 
     for (available_examples) |example| {
diff --git a/examples/espressif/esp/src/stepper_driver_dumb.zig b/examples/espressif/esp/src/stepper_driver_dumb.zig
new file mode 100644
index 000000000..7d2e39138
--- /dev/null
+++ b/examples/espressif/esp/src/stepper_driver_dumb.zig
@@ -0,0 +1,56 @@
+const std = @import("std");
+const microzig = @import("microzig");
+const hal = microzig.hal;
+const gpio = hal.gpio;
+const time = hal.time;
+
+const GPIO_Device = hal.drivers.GPIO_Device;
+const ClockDevice = hal.drivers.ClockDevice;
+const ULN2003 = microzig.drivers.stepper.ULN2003;
+
+const usb_serial_jtag = hal.usb_serial_jtag;
+
+pub const microzig_options = microzig.Options{
+    .logFn = usb_serial_jtag.logger.logFn,
+};
+
+pub fn main() !void {
+    var cd = ClockDevice{};
+
+    // Setup all pins for the stepper driver
+    var pins: struct {
+        in1: GPIO_Device,
+        in2: GPIO_Device,
+        in3: GPIO_Device,
+        in4: GPIO_Device,
+    } = undefined;
+    inline for (std.meta.fields(@TypeOf(pins)), .{ 5, 6, 7, 8 }) |field, num| {
+        const pin = gpio.num(num);
+        // Give the pin a sane default config
+        pin.apply(.{});
+        @field(pins, field.name) = GPIO_Device.init(pin);
+    }
+
+    var stepper = ULN2003.init(.{
+        .in1_pin = pins.in1.digital_io(),
+        .in2_pin = pins.in2.digital_io(),
+        .in3_pin = pins.in3.digital_io(),
+        .in4_pin = pins.in4.digital_io(),
+        .clock_device = cd.clock_device(),
+    });
+
+    try stepper.begin(20, 1);
+
+    while (true) {
+        // Try different microsteps
+        inline for (.{ 1, 2 }) |ms| {
+            _ = try stepper.set_microstep(ms);
+            std.log.info("microsteps: {}", .{ms});
+            try stepper.rotate(360);
+            time.sleep_ms(250);
+            try stepper.rotate(-360);
+            time.sleep_ms(250);
+        }
+        time.sleep_ms(1000);
+    }
+}

From dec4adbcc149323940ac0e1a87d108054434da11 Mon Sep 17 00:00:00 2001
From: Grazfather <grazfather@gmail.com>
Date: Tue, 22 Apr 2025 15:34:34 -0400
Subject: [PATCH 2/2] Fix step table for ULN2003 stepper motor driver

---
 drivers/stepper/ULN2003.zig | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/drivers/stepper/ULN2003.zig b/drivers/stepper/ULN2003.zig
index 4e594dd9a..84eca1282 100644
--- a/drivers/stepper/ULN2003.zig
+++ b/drivers/stepper/ULN2003.zig
@@ -25,8 +25,8 @@ const Direction = enum { forward, backward };
 pub const ULN2003 = struct {
     const Self = @This();
     const STEP_MIN_US = 2;
-    const STEP_TABLE_FULL = [_]u4{ 0b1010, 0b0110, 0b0101, 0b1001 };
-    const STEP_TABLE_HALF = [_]u4{ 0b1000, 0b1010, 0b0010, 0b0110, 0b0100, 0b0101, 0b0001, 0b1001 };
+    const STEP_TABLE_FULL = [_]u4{ 0b1000, 0b0100, 0b0010, 0b0001 };
+    const STEP_TABLE_HALF = [_]u4{ 0b1000, 0b1100, 0b0100, 0b0110, 0b0010, 0b0011, 0b0001, 0b1001 };
 
     in: [4]mdf.base.Digital_IO,
     clock: mdf.base.Clock_Device,