From books to turning!

# From the book, "The BeagleBone Black Primer, (McLaughlin 2016)."
# Trying currently to set up Step_PIN2 and Dir_PIN2 for usage on one Stepper...

import Adafruit_BBIO.GPIO as GPIO
from time import sleep
import ctypes

libc = ctypes.CDLL('libc.so.6')

Step_PIN1 = 'P9_16'
Dir_PIN1  = 'P8_18'

Step_PIN2 = 'P9_14'
Dir_PIN2  = 'P8_16'

MicroSteps = 8

def move(steps, speed):
    if steps > 0:
        GPIO.output(Dir_PIN1, GPIO.HIGH)
    else:
        GPIO.output(Dir_PIN1, GPIO.LOW)

    steps = abs(steps)

    delay = ((float(speed) / 2) / MicroSteps) * 1000

    steps_remaining = steps
    while steps_remaining > 0:
        GPIO.output(Step_PIN1, GPIO.HIGH)
        libc.usleep(int(delay))

        GPIO.output(Step_PIN1, GPIO.LOW)
        libc.usleep(int(delay))

        steps_remaining = steps_remaining - 1

def move_degrees(degrees, speed, degrees_per_step=1.8, usteps_per_step=8):
    steps = degrees / (degrees_per_step / usteps_per_step)
    move(steps, speed)

if __name__=='__main__':
    GPIO.setup(Step_PIN1, GPIO.OUT)
    GPIO.output(Step_PIN1, GPIO.LOW)

    GPIO.setup(Dir_PIN1, GPIO.OUT)
    GPIO.output(Dir_PIN1, GPIO.HIGH)

    try:
        move_degrees(90, 100)
        sleep(2)
        move_degrees(-90, 100)
        sleep(2)
        move_degrees(360, 10)
        sleep(2)
        move_degrees(-360, 2.64)
        sleep(2)
        move_degrees(360 * 2, 3)
        sleep(2)
    except KeyboardInterrupt:
        pass

    finally:
        GPIO.output(Step_PIN1, GPIO.LOW)
        GPIO.cleanup()