diff --git a/micropython/drivers/a4988/a4988.py b/micropython/drivers/a4988/a4988.py
new file mode 100644
index 000000000..01bc9eb67
--- /dev/null
+++ b/micropython/drivers/a4988/a4988.py
@@ -0,0 +1,53 @@
+import time
+
+# Constants
+STEPS_PER_REV = 200 # Number of steps per motor revolution
+MIN_DELAY = 0.001 # Minimum delay between steps (controls maximum speed)
+
+class A4988:
+ def __init__(self, step_pin, dir_pin, en_pin=None):
+ self.step_pin = step_pin
+ self.dir_pin = dir_pin
+ self.en_pin = en_pin
+ if self.en_pin is not None:
+ self.enable_motor(enabled=True)
+
+ def enable_motor(self, enabled=True):
+ """Enable or disable the motor driver (active low)."""
+ if self.en_pin:
+ self.en_pin.value(0 if enabled else 1)
+
+ def step_motor(self, steps=STEPS_PER_REV, direction=1, delay=0.005):
+ """Move the motor a specified number of steps in the given direction."""
+ self.dir_pin.value(direction) # Set direction (1 = forward, 0 = backward)
+ for _ in range(steps):
+ self.step_pin.value(1)
+ time.sleep(delay)
+ self.step_pin.value(0)
+ time.sleep(delay)
+
+ def calculate_speed(self, current_delay):
+ """Calculate the current speed in steps per second and RPM."""
+ if current_delay <= 0:
+ return 0, 0
+ steps_per_second = 1 / (2 * current_delay) # Delay is for each half-step
+ rpm = (steps_per_second / STEPS_PER_REV) * 60 # Convert to RPM
+ return steps_per_second, rpm
+
+ def inc_speed(self, current_delay):
+ """Decrease delay to increase speed, respecting minimum delay limit."""
+ new_delay = max(current_delay - 0.001, MIN_DELAY)
+ return new_delay
+
+ def dec_speed(self, current_delay):
+ """Increase delay to decrease speed."""
+ new_delay = current_delay + 0.001
+ return new_delay
+
+ def forward_motion(self, steps=STEPS_PER_REV, delay=0.005):
+ """Move motor forward for a given number of steps and delay."""
+ self.step_motor(steps=steps, direction=1, delay=delay)
+
+ def backward_motion(self, steps=STEPS_PER_REV, delay=0.005):
+ """Move motor backward for a given number of steps and delay."""
+ self.step_motor(steps=steps, direction=0, delay=delay)
diff --git a/micropython/drivers/a4988/manifest.py b/micropython/drivers/a4988/manifest.py
new file mode 100644
index 000000000..2ebb7c1f7
--- /dev/null
+++ b/micropython/drivers/a4988/manifest.py
@@ -0,0 +1 @@
+metadata(description="MicroPython driver for A4988 stepper motor controller", version="1.0.0")
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