步进电机的控制原理，采用达林顿驱动器与单片机相连的原理图，以及步进电机的控制程序，都是用通俗语言讲述的，希望有所帮助。-Stepper motor control principle, the use of Darlington connected to the microcontroller drives the schematic, and stepper motor control program, are described in simple language, I hope help.