How to drive a stepper motor with S curve？

[xky183]

Hi all,
I want drive a stepper motor with ESP32 and microPython,
The PWM duty will be fixed 50%,
I want use a timer IRQ for setting the freq of the PWM with 10ms period.
The freq of PWM will be in the range of 0.5k-50kHz，it is controled by the curve.
But I don't have a solution for getting the exactly number of PWM pulse in micropython.
Is there any way to know how many pulse generated by the timer(PWM mode)?

Thanks

[tepalia02]

I think this video will be helpful to you. It's about ESP32 MICROPYTHON PWM & SERVO CONTROL.
https://www.youtube.com/watch?v=U2KOOxmveZ4

[OlivierLenoir]

You can read this topic.
Project is here.