Stepper motor control example
using L298N and Stm32 Nucleo-64

For this stepper motor control example we are going to be using this hardware:

Connecting everything together

Here is an example of the connection scheme using the L298N and Nucleo-64:


  • Channels ENA and ENB are connected to pins 7 and 8
  • Channels IN1, IN2, IN3 and IN4 are connected to the pins 5, 6, 9, 10
  • Common ground is connected in between nucleo and L298N
  • 12V power-supply is connected directly to the driver


  • Channels A and B are connected to the pins A0 qnd A1
  • Index channel is not used in this example but you cqn easily modify this example to support it


  • Motor phases A1, A2, B1and B2 are connected directly the motor connectors of the L298N chip.

Full Arduino code

#include <SimpleFOC.h>

// Stepper motor instance
StepperMotor motor = StepperMotor(50);
// Stepper driver instance
StepperDriver4PWM driver = StepperDriver4PWM(5, 6, 9, 10,  8, 7);

// encoder instance
Encoder encoder = Encoder(A1, A2, 2048);
// channel A and B callbacks
void doA(){encoder.handleA();}
void doB(){encoder.handleB();}

// commander interface
Commander command = Commander(Serial);
void onMotor(char* cmd){ command.motor(&motor, cmd); }

void setup() {

  // initialize encoder sensor hardware
  encoder.enableInterrupts(doA, doB); 
  // link the motor to the sensor

  // choose FOC modulation
  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;

  // power supply voltage [V]
  driver.voltage_power_supply = 12;
  // link the motor to the sensor

  // set control loop type to be used
  motor.controller = MotionControlType::torque;

  // controller configuration based on the control type 
  motor.PID_velocity.P = 0.2;
  motor.PID_velocity.I = 20;
  motor.PID_velocity.D = 0;
  // default voltage_power_supply
  motor.voltage_limit = 12;

  // velocity low pass filtering time constant
  motor.LPF_velocity.Tf = 0.01;

  // angle loop controller
  motor.P_angle.P = 20;
  // angle loop velocity limit
  motor.velocity_limit = 50;

  // use monitoring with serial for motor init
  // monitoring port
  // comment out if not needed

  // initialise motor
  // align encoder and start FOC

  // set the initial target value = 2;

  // define the motor id
  command.add('M', onMotor, "motor");

  // Run user commands to configure and the motor (find the full command list in
  Serial.println(F("Motor commands sketch | Initial motion control > torque/voltage : target 2V."));

void loop() {
  // iterative setting FOC phase voltage

  // iterative function setting the outter loop target
  // velocity, position or voltage
  // if tatget not set in parameter uses variable

  // user communication;