It’s just a small project I’m helping out on, but I recently put together the controller board for an automated etch-a-sketch for Imagine RIT.  The actuating devices are two stepper motors with 1.8 degree steps, coupled onto the shafts the knobs were press fit to.  To drive the motors, two quad darlington arrays (ULN2067B) are connected to output pins of a microcontroller (Just using an arduino because we have one lying around.) A simple program interprets num-pad directions, and moves the motors accordingly.

The circuit is as follows: Single stepper driver

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