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+import pigpio
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+import time
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+
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+# Pin numbers (BCM)
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+DIR_PIN = 11
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+STEP_PIN = 9
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+EN_PIN = 10
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+
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+# Connect to pigpio daemon
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+pi = pigpio.pi()
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+if not pi.connected:
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+ exit()
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+
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+# Set up pins
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+pi.set_mode(DIR_PIN, pigpio.OUTPUT)
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+pi.set_mode(STEP_PIN, pigpio.OUTPUT)
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+pi.set_mode(EN_PIN, pigpio.OUTPUT)
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+
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+def move_motor(steps, direction=True, step_delay_us=10):
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+ """
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+ Moves the motor a specific number of steps.
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+ :param steps: Number of step pulses.
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+ :param direction: True for one way, False for the other.
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+ :param step_delay_us: Microseconds between rising edges (controls speed).
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+ """
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+ # Enable motor driver (LOW = enabled)
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+ pi.write(EN_PIN, 0)
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+
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+ # Set direction
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+ pi.write(DIR_PIN, 1 if direction else 0)
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+
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+ # Create pulse waveform
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+ pulses = []
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+ for _ in range(steps):
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+ pulses.append(pigpio.pulse(1 << STEP_PIN, 0, step_delay_us)) # STEP high
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+ pulses.append(pigpio.pulse(0, 1 << STEP_PIN, step_delay_us)) # STEP low
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+
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+ pi.wave_clear()
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+ pi.wave_add_generic(pulses)
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+ wave_id = pi.wave_create()
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+
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+ if wave_id >= 0:
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+ pi.wave_send_once(wave_id)
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+ while pi.wave_tx_busy():
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+ time.sleep(0.01)
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+
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+ pi.wave_delete(wave_id)
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+
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+ # Optional: disable motor
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+ pi.write(EN_PIN, 1)
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+
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+# Example: Move 200 steps forward with 1ms step pulse (i.e., ~500 steps/sec)
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+move_motor(1600, direction=True, step_delay_us=200)
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+
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+# Clean up
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+pi.stop()
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