Non-fork of this code.

[mkarliner]

I'm working on a driver based on your code.
It's sufficiently different that I don't think that a fork and pull request
is the correct approach, but I thought I should let you know.
The code is here: https://github.com/mkarliner/MicropythonStepper

I've altered it to work on vanilla micropython, and made it work with asyncio.
Because individual steppers can now work pseudo-simultaneously, I've removed
the command class. I'm extending the stepper commands to step and also continuously move.
I'll probably extend to an Axis class which will specify limit switches and can be moved to position.
Thanks for the starter.
Mike