The motors used are two SY42STH47-1206A stepper motors, one for each axis. Since the stepper motors require higher voltage and current than what is supplied by the pins of the microcontroller, they are driven using the A3967 stepper motor drivers, with one driver per motor. The drivers are controlled by enable, direction and step pins connected to the microcontroller, as described in the Pinout section of this document. When the enable pin is high, each pulse on the step pin will cause the stepper to rotate one step and in the direction determined by the direction pin.