Kaczorek: Will there be an option for backlash steps?

Why not

Excellent! I'm looking forward to giving this a spin.

There's really bad news on this driver. Adafruit provides only python library for this board and no c++ library is available that can be used directly. As the result a driver for this board needs to use low level PCA9685 driver (which basically means writing everything from scratch) or bind python library into c++ code (which reuses the library but still requires lots of coding).
In summary, for now a stepper focuser build on Adafruit Motor HAT can only work outside of INDI, controlled with python scripts released by a vendor. Integration with INDI will be possible if c++ library is available for the device.

Oh no. That's not good.

I'm trying to exercise my Google Fu and have come up with a couple results, it would seem other's have the same issue.
www.chiefdelphi.com/forums/showthread.php?p=1598518
github.com/threebrooks/AdafruitStepperMotorHAT_CPP
www.raspberrypi.org/forums/viewtopic.php?t=112415&p=908267
mjmeans.github.io/Adafruit.IoT/doc/html/...21e-7d84815c826d.htm

I hope some of this can be of use.

It seems that the second link would be quite useful. So we're back to the game

Hi, I have just finished the first version of the focuser driver for Adafruit Motor HAT.

Check it out at github.com/rkaczorek/astroberry-amh

I have developed it without hardware so please test it and let me know how it goes. Please be careful with stepper speed option.

That's Fantastic! I am out of town this weekend, but will eagerly test it once I'm back. Thank you.

I encountered an error in the final Make Install step
Never Mind. Must first install WiringPi.

Ok. I got it working!
I am accustomed to running everything from a profile in Ekos. So starting it from terminal was a challenge for me, and the folder /var/run/indi does not exist on my system. How can I add it to the list for focusers in the Ekos Profile Editor?
Onto my tests.
The motor drives very well. But once it reaches a position there is a hum.
Parking the motor via driver disconnect is fine, and power off properly, no hum.
I had no issues with speed set to maximum. Could even go higher.
100 Backlash steps is not enough for me. Will need at least over 200. Please increase to a generous 500 step limit.
It may be interfering with USB devices, such as WiFi dongle. Not necessarily the driver's fault. Will have to test further with more equipment attached.
I noticed a bunch of messages in the terminal that started up the indiserver that coincide with my WiFi dongle cutting out momentarily. They read

Thank you

Just copy indi_amh_focuser.xml file to /usr/share/indi - if it's not there. If it's there you can select a driver from profile editor in Ekos.

Does a stepper motor get warm after a while in the stop position? If so, it means it uses break/cost mode to hold the motor still in the last position. I will disable if it is the case.

500 is a lot for a backlash. Could you check how many steps you need for 1 revolution of the motor?
I use DOUBLE step mode in the code (see lines 456, 461, 469, 474) - could you change these to SINGLE, recompile and check number of steps for 1 revolution again?
Use absolute position only for these tests so just set the required position to a number and let it travel to this position.

I will not be able to do anything with this. It probably comes from wiringPi library OR it might power drop issue if you use raspberry pi to power your motor.