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ST fully supports all of these configurations with monolithic motor driver ICs (embedding digital controllers, power devices and protection functions), and for higher power, with a controller + MOSFET combination approach.
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This video provides you with the essentials you need to know to get started with your mbed project with X-NUCLEO-IHM02A1, a two axis stepper motor driver expansion board based on the L6470 for STM32 Nucleo.