I was using 28BYJ-48 steppers driven using ULN2003A. Since the drive rate is 100-600 Hz, it was simple to use sub-ms timing to control signal edges. MicroContro

I was using 28BYJ-48 steppers driven using ULN2003A. Since the drive rate is 100-600 Hz, it was simple to use sub-ms timing to control signal edges. MicroControllers run 10-100s MHz, so microsecond timing is well within their capabilities. I haven't yet learnt to use PIOs. I'm old-school. Start by reading datasheets and then try out the simplest thing that could work and iterate from there. In general, I find third-party libraries more complex than my needs require. Took me a fair bit of reading microPython documentation and experimentation to fully grok the capabilities of the tasking model and event_loops. But once I got over that, it lead to clean, single responsibility class implementations.