This StepperMotorFeatherWing allows you to drive two stepper motors with your Adafruit feather board. The board is equipped with two Trinamic TMC5130A-TA stepper motor controllers. These controllers steer the movement of stepper motors mostly on their own and require only very small computing power on the feather board. The controllers are connected via SPI. This feather wing has also special features to support its use in robotics. The input is reverse polarity protected and allows input voltages up to 40 V to have enough power to move big robots. Additionally it has an input for an emergency switch. This switch stops all motion by hardware functions when pressed. The onboard voltage regulator also powers the feather board.