Adafruit_MCP23017 mcp1; // Create MCP 1

Adafruit_MCP23017 mcp2; // Create MCP 2

..... bis mcp4



int stepCounter;

int steps = 2000;



void setup()

{

  mcp1.begin(0);      // Start MCP 1 on Hardware address 0x20

  mcp2.begin(1);      // Start MCP 2 on Hardware address 0x21

... bis mcp4



  mcp1.pinMode(0, OUTPUT); // Define GPB0 on MCP1 as Output

... für alle MCP23017 und alle Pins



// 0 Motor1 Enable 

// 1 Motor1 Step

// 2 Motor1 Richtung

// 3 Motor2 Enable 

// 4 Motor2 Step

// 5 Motor2 Richtung



 mcp1.digitalWrite(0, LOW);

 mcp1.digitalWrite(3, LOW);

... für alle Enable Pins



}



void loop()

{

 mcp1.digitalWrite(2, LOW); //Richtung Motor1

 mcp1.digitalWrite(5, LOW); //Richtung Motor2

.. für alle Motoren



for(stepCounter = 0; stepCounter < steps; stepCounter++)

{

 mcp1.digitalWrite(1, HIGH); //Step Motor1

 mcp1.digitalWrite(4, HIGH); //Step Motor2

delayMicroseconds(500);

 mcp1.digitalWrite(1, LOW); //Step Motor1

 mcp1.digitalWrite(4, LOW); //Step Motor2

delayMicroseconds(500);

}

delay(1000);



}