uln2003 for MicroPython has been in github, here's the link. But it's work for microbit, so I change a little to transplant for my NodeMCU's ESP-32s. Here's the example:
import Stepper
from machine import Pin
s1 = Stepper.create(Pin(16,Pin.OUT),Pin(17,Pin.OUT),Pin(5,Pin.OUT),Pin(18,Pin.OUT), delay=2)
s1.step(100)
s1.step(100,-1) # or s1.step(-100)
s1.angle(180)
s1.angle(360,-1) # or s1.angle(-360)function angle is angle, and the PIN map:
IN1 link PIN_16
IN2 link PIN_17
IN3 link PIN_5
IN4 link PIN_18
My uln2003 board like this, and stepper runing:
