Stepper motor performance is strongly dependent on the driver circuit. Torque curves may be extended to greater speeds if the stator poles can be reversed more quickly, the limiting factor being a combination of the winding inductance. To overcome the inductance and switch the windings quickly, one must increase the drive voltage. This leads further to the necessity of limiting the current that these high voltages may otherwise induce.
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.
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