Patent ID: 7405532

Claim:
A microstepper motor device comprising: a stepper motor; and a motor driver connected to said stepper motor to drive said stepper motor in response to control signals, said motor driver comprising: power circuitry connected to said stepper motor to supply power signals to said stepper motor using current sinusoidal values; and a microcontroller connected to said power circuitry to provide said current sinusoidal values from at least one array of sinusoidal values to said power circuitry, said microcontroller being configured to index said at least one array of sinusoidal values to said current sinusoidal values in response to said control signals as part of an interrupt service routine of said microcontroller, said microcontroller being further configured to output said current sinusoidal values to said power circuitry as part of a non-interrupt routine of said microcontroller.