// actuator
NEMA17 + A4988
Bipolar stepper + microstepping driver
€12.00
avg eur
no image
Digital
Pins
6
Specs
4
Libraries
2
Protocols
1
// wiring → esp32 devkit v1
3V3
EN
GPIO36
VP
GPIO39
VN
GPIO34
GPIO35
GPIO32
GPIO33
GPIO25
EN
GPIO26
DIR
GPIO27
STEP
GPIO14
GPIO12
GND
GND
GPIO13
ESP32
WROOM-32
devkit v1
USB
VIN
5V
GND
GPIO23
GPIO22
SCL
GPIO1
TX0
GPIO3
RX0
GPIO21
SDA
GPIO19
MISO
GPIO18
SCK
GPIO5
SS
GPIO17
TX2
GPIO16
RX2
GPIO4
GPIO2
GPIO15
sensor pin (left)
sensor pin (right)
unused
// pinout → esp32
| Sensor Pin | ESP32 Connection |
|---|---|
| VMOT | 12V external |
| GND | GND |
| STEP | GPIO 14 |
| DIR | GPIO 27 |
| EN | GPIO 26 (active LOW) |
| MS1/2/3 | GPIO (microstep cfg) |
// technical specs
Steps
200 / rev (1.8°)
Microstepping
up to 1/16
Driver Vmot
8–35V
Driver current
up to 2A (with heatsink)
// github libraries
// notes & warnings
Set Vref carefully (Vref = Imax × 8 × Rsense). 100µF cap across VMOT/GND mandatory. Use FastAccelStepper for ESP32 RMT-based stepping.
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