From Design and Preliminary Testing of a Three-Degree-of-Freedom Motion Table and Active Micro-Gyroscope Control in the Design of a Three-Degree-of-Freedom Table for Dynamic Applications
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Engineer’s Note
A long time ago, I wrote a small connection-and-test program for this circuit, and I am sharing parts of it here.
This setup uses an ESP32 as the main controller, an MPU6050 IMU for motion sensing, and an A4988 driver to control a bipolar stepper motor.
The MPU6050 provides 6-axis data through I2C: 3-axis acceleration plus 3-axis gyroscope readings.
The A4988 receives simple STEP and DIR signals from the ESP32 and supports microstepping up to 1/16 step.
From a software point of view, the ESP32 reads sensor data, filters motion changes, and converts logic decisions into motor movement.
The main goal of this prototype was to verify wiring, sensor communication, driver response, and basic motor control before building the final system.
