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ESP-FlexyStepper

  • Software
  • Microcontrollers and firmware tools
  • Library

An ESP32 library for driving one or more stepper motors through an external step and direction driver, with acceleration and deceleration that can be changed mid-motion.

Source on GitHub: github.com/pkerspe/ESP-FlexyStepper (opens in a new tab). Facts read at commit 8b7796f (opens in a new tab).

Licenses

Code
MIT (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit 8b7796f (opens in a new tab), on 22 Oct 2026.

Commercial use
Yes

What it does

  • Generates step and direction pulses for a connected stepper driver, accelerating and decelerating along the way.
  • Can run as a background FreeRTOS task on a chosen ESP32 core, or be driven manually from the main loop.
  • Offers blocking and non-blocking movement calls, with callbacks for events such as reaching a position.
  • Supports an emergency stop input and limit or homing switches.
  • Positions and speeds can be set in steps, millimeters or revolutions, and jogging is available.

Written by Robotheca from the project's README (opens in a new tab) at commit 8b7796f.

Getting started

Difficulty
Beginner
Hardware it needs, as the project states it
An ESP32 module, connected to an external stepper motor driver with step and direction inputs.

Maintenance

Status
Maintained: a commit in the last 12 months
Newest commit
13 Feb 2026 on master
Latest release
new getters and some handling for single core ESP32s (13 Feb 2026)

Checked on GitHub on 22 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.