# Stepper Driver configuration

Arduino SimpleFOClibrary implements support for two types of Stepper driver control interfaces:

• 4PWM - class StepperDriver4PWM
• 2PWM - class StepperDriver2PWM

Classes StepperDriver2PWM and StepperDriver4PWM provide an abstraction layer of all the hardware/platform specific code for all the supported platforms: atmega328, esp32, stm32, sam, samd and teensy. They implement:

• PWM configuration
• PWM frequency
• PWM center-alignment
• Direction channel handling (2PWM)
• Complementary direction channel (2PWM)
• PWM duty cycle setting
• Voltage limiting

These classes can be used as stand-alone classes and they can be used to set certain PWM value to the stepper driver outputs, see example codes in utils > driver_standalone_test. In order for FOC algorithm to work the StepperDriverxPWM classes are linked to a StepperMotor class which uses the driver to set the appropriate phase voltages.

The driver code is written in a way to support as many different drivers out there as possible and in a way to be fully interchangeable.

## Digging deeper

For more theoretical explanations and source code implementations of the FOC algorithm and the motion control approaches check out the digging deeper section.