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# Stepper_ULN2003A
This is a derived class of **StepperControl** designed to operate stepper motors driven by a [Toshiba TB6612](https://cdn-shop.adafruit.com/datasheets/TB6612FNG_datasheet_en_20121101.pdf) chip, either with or without the use of ESP32 PWM pins.
The Toshiba TB6612 is a generic motor driver providing direct control of two full H-bridges. Wiring for the [Adafruit TB6612 1.2A DC/Stepper Motor Driver Breakout Board](https://learn.adafruit.com/adafruit-tb6612-h-bridge-dc-stepper-motor-driver-breakout) that uses this chip is as follows:
#### **Power Connections**
* *VCC* - connect to +3.3V on ESP32
* *VM+* - connect to external DC power supply that will drive stepper motor (5-13V)
* *GND* - connect to GND on the ESP32, and to ground of external DC power supply
#### **Motor Connections**
* *MOTORA* - connect to the "A" coil of the stepper motor
* *MOTORB* - connect to the "B" coil of the stepper motor
#### **Control Connections**
* *AIN1, AIN2* - connect to two digital pins on the ESP32 - used to control direction and state of coil *A*
* *BIN1, BIN2* - connect to two digital pins on the ESP32 - used to control direction and state of coil *B*
* *PWMA, PWMB* - if using PWM, connect to two digital pins on the ESP32; if not, connect to +3.3V on ESP32 to pull high
* *STBY* - connect to +3.3V on ESP32 to pull high
The **Stepper_TB6612** class includes two constructors:
* `Stepper_TB6612(int AIN1, int AIN2, int BIN1, int BIN2)`
* controls the driver board using only 4 digital pins from the ESP32, where the parameters specify the pin numbers. Supports the following step type modes:
* FULL_STEP_ONE_PHASE
* FULL_STEP_TWO_PHASE
* HALF_STEP
* `Stepper_TB6612(int AIN1, int AIN2, int BIN1, int BIN2, int PWMA, int PWMB)`
* controls the driver board using 4 digital pins and 2 PWM pins from the ESP32, where the parameters specify the pin numbers. Supports the following step type modes:
* FULL_STEP_ONE_PHASE
* FULL_STEP_TWO_PHASE
* HALF_STEP
* QUARTER_STEP
* EIGHTH_STEP
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[↩️](../Stepper.md) Back to the Stepper Motor Control page