TB6600 stepper driver on an Arduino Uno

// A NEMA 23 on a TB6600 driver, from an Uno, with the StepperDriver library.
//
//   TB6600 PUL+ -> pin 2    DIR+ -> pin 3    ENA+ -> pin 4
//   TB6600 PUL- DIR- ENA- -> GND           (common cathode)
//   TB6600 VCC / GND -> 24 V,  A+ A- and B+ B- -> the motor's two coils
//
// Each input is an optocoupler: a pin driven high lights it. The DIP switches
// are set to 1/8 step and 2.8 A, so a 200 step motor takes 1600 pulses a turn,
// and begin() is told the same 8. ENA lit is offline, so the enable is active
// LOW in this wiring: disable() lets the shaft go free.

#include <TB6600.h>

const int MOTOR_STEPS = 200;
const int DIR_PIN = 3;
const int PUL_PIN = 2;
const int ENA_PIN = 4;

TB6600 stepper(MOTOR_STEPS, DIR_PIN, PUL_PIN, ENA_PIN);

void setup() {
  Serial.begin(9600);
  stepper.setEnableActiveState(LOW);
  stepper.begin(120, 8);
  stepper.enable();
  Serial.println("Mokxi Uno: TB6600 at 1/8 step, 120 rpm");
}

void loop() {
  stepper.rotate(360);
  Serial.println("one turn forward");
  delay(500);
  stepper.rotate(-180);
  Serial.println("half a turn back");
  delay(500);
  stepper.disable();
  Serial.println("offline: the shaft is free");
  delay(1000);
  stepper.enable();
}