Hi Kevin, I'm glad you found my Astroberry AMH driver inspiring and base for your project. Great work!
I have just purchased Waveshare motor HAT and given it a try with Astroberry DIY , which is much more advanced focuser driver than Astroberry AMH.
It supports DRV8834 and A4988 stepper controllers, supports custom GPIO pins, uses kernel native libgpiod instead of bcm2835 or wiringpi, remembers focuser position between runs and provides focuser temperature compensation with DS18B20 sensor.
It uses typical DIR, STEP, SLEEP, M0, M1, M2 pins connected to Raspberry GPIO so I tested it with Waveshare motor HAT. Well, it works but I faced some issues with microstepping and sleeping a motor.

As you probably have much more experience with this device, I've got two questions:
1) It looks like the device does not handle software microstepping without touching hardware i.e. dip-switches. Am I right saying that you cannot control microstepping with software only?
2) Another issue is related to sleeping a stepper motor. Apparently hardware designers did not wired SLEEP pin of DRV8825 to any of Raspberry GPIO. Does ENABLE pin cut off step motor power circuit so it does not get hot?

Clear skies!

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