Donovan Buck

Thank you for the catch! It's all updated now.

**Edited 9/22 to add Stepper zero and update command values** So here's my stab at a new protocol... This adds support for enable pins, multiStepper and more stepper interface types....

`runToNewPosition` blocks, but I think `moveTo` does not. I had planned on using the latter.

> Is this comprehensive for stepper motor interface types? No, it is not. I will give it its own byte. > would a user ever want to control the motors...

Hey wow! Lots of good comments here. I honestly won't be able to give them the attention they deserve until Monday night. I'm out of town, doing the Christmas thing.

The stop message changes the target value. Perhaps you could just set the speed to 0 to make it pause?

Ya, the TB6600 isn't supported. Can you link to the specific stepper motor you are using? Nema 23 is just the frame size. If the current draw is low enough...

No hablo Python, but I see Pymata supports Firmata's legacy stepper motor code which I believe allows you to use multiple steppers. Have you tried editing the [Pymata example](https://github.com/MrYsLab/pymata4/blob/master/examples/stepper.py) and...

Sorry to rope you in like that, I figured it was really a Python question and to the best of my knowledge, you're the most expert of all the experts...

> As you said it is possible to run multiple stepper by creating different instances but its not working. I did not realize that Pymata did not use Firmata's legacy...