Hey @Marco,
I’ve implemented the 2PWM version of the stepper driver it is currently in the dev branch:
Basically the code is:
StepperDriver2PWM driver = StepperDriver2PWM(PWM1, IN1A,IN1B, PWM2, IN2A, IN2B, EN1, EN2).
All the rest of the code will be the same as for the other stepper driver.
You have a standalone example in the utils folder for quick testing.
Let me know how it goes!