A4988

A4988 motor driver library

• Constant speed movement
• Movement by degrees and millimetres
• Movement in local and absolute coordinate systems
• Microstepping

Microstepping

The library can handle all microstepping modes supported by A4988 driver (up to 1/16)
Warning: high RPM + high microstep might not work properly as there is a speed limit for every motor.

Motor

Motor should be a 4-wire stepper motor or a 6-wire stepper motor in 4-wire configuration (leaving central wires out)

Connection

Wiring

This pin-out works for the example (located in ./examples). All of these can be changed.

• Driver to Arduino:
  • DIR - D9
  • STEP - D10
  • MS1 - 3
  • MS2 - 5
  • MS3 - 6
  • GND - Arduino GND
  • GND - Motor power supply GND
  • VMOT - Motor power supply
  • VDD - Arduino 5V
• Driver to stepper motor (1A,1B,2A,2B, these vary on every motor, check coil specifications of your motor)
• 100 uF capacitor between VMOT - GND
• Make sure the motor power supply voltage is within the range supported by the driver board

Code

The sample code and its explanation are located in ./examples folder. To open it:

• Launch your Arduino IDE
• Go to File > Examples
• Find the A4988 library on the list and open the desired example file.

Hardware

All you need is:

• Arduino board
• A4988 stepper motor driver
• Stepper Motor
• 100 uF capacitor

To-do

• Add linear (accelerated) movement mode