https://wiki.bespokerobotsociety.org/index.php?action=history&feed=atom&title=Capability%3AStepper_MotorsCapability:Stepper Motors - Revision history2026-04-25T11:25:50ZRevision history for this page on the wikiMediaWiki 1.43.5https://wiki.bespokerobotsociety.org/index.php?title=Capability:Stepper_Motors&diff=30&oldid=prevJohn: Claude edited based on my notes, prompt, and SimpleBot code repository2025-10-11T16:17:04Z<p>Claude edited based on my notes, prompt, and SimpleBot code repository</p>
<p><b>New page</b></p><div>{{Capability<br />
| name = Stepper Motors<br />
| type = Actuation<br />
| measures = Rotational position (open-loop step counting)<br />
| hardware = NEMA 17, 28BYJ-48, A4988/DRV8825 driver boards<br />
| enables = Precise positioning, 3D printing motion, CNC control<br />
| status = '''Stub''' - Not yet implemented in BRS robots<br />
}}<br />
<br />
'''Stepper Motors''' is a actuation capability that rotates in precise angular steps without feedback sensors.<br />
<br />
== Overview ==<br />
<br />
'''This is a stub page.''' This capability is not yet implemented in any BRS robot. This page exists to:<br />
* Document the concept for future implementation<br />
* Invite community members to add it to their robots<br />
* Provide a starting point for hardware selection<br />
<br />
== What It Controls ==<br />
<br />
Rotational position (open-loop step counting)<br />
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== Common Hardware ==<br />
<br />
NEMA 17, 28BYJ-48, A4988/DRV8825 driver boards<br />
<br />
== Enables Activities ==<br />
<br />
Adding this capability to your robot would enable:<br />
<br />
<br />
<br />
== Technical Considerations ==<br />
<br />
* **Advantages**: Precise step-based control, no feedback needed, holds position without power (some types)<br />
* **Disadvantages**: Can skip steps under load, requires driver board, higher power consumption<br />
* **Typical cost**: $5-20 per motor + $3-10 for driver<br />
* **Interface**: Step/direction signals to driver board<br />
* **Resolution**: 200-400 steps per revolution (1.8° or 0.9° per step), microstepping increases resolution<br />
* **Torque**: High holding torque, varies by size<br />
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== Contributing ==<br />
<br />
Want to add this capability to your robot? Here's how:<br />
<br />
# Select appropriate hardware (see "Common Hardware" above)<br />
# Mount the hardware to your robot chassis<br />
# Wire to your microcontroller<br />
# Write driver code or use existing libraries<br />
# Test and calibrate<br />
# Document your implementation<br />
# Update this page with your findings<br />
# Share on [[Discord]]<br />
<br />
== See Also ==<br />
<br />
* [[Capabilities]] - All capabilities<br />
* [[Activities]] - What this capability enables<br />
* [[Robotics Ontology]] - How capabilities fit into BRS knowledge structure<br />
<br />
[[Category:Capability]]<br />
[[Category:Actuation Capability]]<br />
[[Category:Stub]]</div>John