They are not controlled through a circuit board or ESC. They have to be connected to the arduino through a motor shield or custom built circuit. They are typically the most expensive. Stepper motors can have 4, 5, 6, or 8 wires. To use them with the arduino, understanding the internal wiring is absolutely necessary. The best way to learn the internal wiring is to assume no manual exists, and "discover" the internal wiring.
One way to distinguish the center tap (common wire) from a coil-end wire is by measuring the resistance. Resistance between common wire and coil-end wire is always half of the resistance between coil-end wires. This is because there is twice the length of coil between the ends and only half from center (common wire) to the end. A quick way to determine if the stepper motor is working is to short circuit every two pairs and try turning the shaft. Whenever a higher than normal resistance is felt, it indicates that the circuit to the particular winding is closed and that the phase is working.
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