From 723b805fd143f644d664228fd0f673986df14263 Mon Sep 17 00:00:00 2001
From: adario7 <24436551+adario7@users.noreply.github.com>
Date: Fri, 9 Aug 2019 00:10:10 +0200
Subject: [PATCH 1/2] Support Different Microsteps interval

Allow the user to specify in the MotorKit constructur how many microsteps shall the the stepper motors do.
---
 adafruit_motorkit.py | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/adafruit_motorkit.py b/adafruit_motorkit.py
index 5eef37e..b8c7a88 100644
--- a/adafruit_motorkit.py
+++ b/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, stepper_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.stepper_microsteps = stepper_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.stepper_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.stepper_microsteps)
         return self._stepper2

From fd7ba9783038af45efd860d08b8c44fcd1c83c25 Mon Sep 17 00:00:00 2001
From: adario7 <24436551+adario7@users.noreply.github.com>
Date: Fri, 9 Aug 2019 12:46:41 +0200
Subject: [PATCH 2/2] Mark steppers_microsteps field as private

change field name steppers_microsteps to _steppers_microsteps as it is a private field.
---
 adafruit_motorkit.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/adafruit_motorkit.py b/adafruit_motorkit.py
index b8c7a88..114f542 100644
--- a/adafruit_motorkit.py
+++ b/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, stepper_microsteps=16):
+    def __init__(self, address=0x60, i2c=None, steppers_microsteps=16):
         self._motor1 = None
         self._motor2 = None
         self._motor3 = None
@@ -74,7 +74,7 @@ def __init__(self, address=0x60, i2c=None, stepper_microsteps=16):
             i2c = board.I2C()
         self._pca = PCA9685(i2c, address=address)
         self._pca.frequency = 1600
-        self.stepper_microsteps = stepper_microsteps
+        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)
@@ -229,7 +229,7 @@ def stepper1(self):
             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],
-                                                  microsteps=self.stepper_microsteps)
+                                                  microsteps=self._steppers_microsteps)
         return self._stepper1
 
     @property
@@ -264,5 +264,5 @@ def stepper2(self):
             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],
-                                                  microsteps=self.stepper_microsteps)
+                                                  microsteps=self._steppers_microsteps)
         return self._stepper2