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DRV8428E: How to control step by DRV8428E

Part Number: DRV8428E
Other Parts Discussed in Thread: DRV8428,

We want to use the DRV8428E to control the focus  and zoom of the motor lens module. But we can't find in the datasheet how to control every step of the motor through the DRV8428"E".  Is it can control step?