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Components needed for this Arduino Tutorial So a logic high will keep the outputs disabled. The last one, the ENABLE pin is used for turning on or off the FET outputs. These pins have internal pull-down resistors so if we leave them disconnected, the board will operate in full step mode. The next 3 pins (MS1, MS2 and MS3) are for selecting one of the five step resolutions according to the above truth table. The Reset pin is a floating pin so if we don’t have intention of controlling it with in our program we need to connect it to the SLEEP pin in order to bring it high and enable the board. If the input state to this pin is a logic low all the STEP inputs will be ignored. So these are the initial positions from where the motor starts and they are different depending on the microstep resolution.

This Home state or Home Microstep Position can be seen from these Figures from the A4988 Datasheet. Next, the RESET pin sets the translator to a predefined Home state. Next is the SLEEP Pin and a logic low puts the board in sleep mode for minimizing power consumption when the motor is not in use. Here we also need to mention that these 2 pins are not pulled to any voltage internally, so we should not leave them floating in our program. So that means that we don’t need any complex programming, phase sequence tables, frequency control lines and so on, because the built-in translator of the A4988 Driver takes care of everything. With the Step pin we control the mirosteps of the motor and with each pulse sent to this pin the motor moves one step. The Direction pin controls the rotation direction of the motor and we need to connect it to one of the digital pins on our microcontroller, or in our case I will connect it to the pin number 4 of my Arduino Board. The next two 2 pins, Step and Direction are the pins that we actually use for controlling the motor movements.

Arduino multisim