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http://www.atmel.ru/Atmel/acrobat/doc1181.pdf
Step Motor Controller. This Application Note describes how to implement a compact size and high-speed interrupt driven step motor controller.
http://www.dian.ru/sh_begn.html
"Раз шажок, два шажок" - серия статей Леонида Ивановича в журнале "Схемотехника".
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