Electronics and Software - Mellinger

The robot was driven by a Nema 17 stepper motor using an Arduino, motor controller, and power supply. The wiring diagram for the controller I used is shown below.

Power electronics wiring diagram

Final wired electronics and final assembly

I used a breadboard to interface the power supply with the Arduino and motor controller. I to command the motor to the desired 1 rad/s as in the MATLAB simulation. The Arduino code can be found in the appendix.