This project centered around an Arduino Uno used to control three stepper motors (Nema 17s) and a DC motor. We used a 12V AC/DC wall adapter to power all four motors. We connected the DC motor with a standard l298n motor driver. Since we weren't sure if we would want to implement microstepping or not at the beginning, we decided to use DRV8825 stepper drivers since they offer a range of options for precise control and are well documented online. We set these up on a breadboard and used 10 μF Capacitors to connect to 12 V. Smaller 1 μF capacitors were placed around the circuit to smooth out current blips caused by the DC motor's field.

Although Limit switches were considered, they weren't deemed necessary and the overall system didn't have any sensor input.

We used a Sparkfun 16x2 SerLCD for displaying messages from the headless Raspberry Pi 4. This was connected directly to the Raspberry Pi I2C pins.

All electronics were mounted on a sliding shelf under the main structure.