what is the end product you want ? cnc ? 3d printer ?
Linuxcnc does all this and is proven and reliable and works on a beaglebone
black ( machinekit)

i am a moderator for Linuxcnc , and have worked with steppers for a lot of
years , so give me some more information and see how it fits or not to your
project needs it all depends on what else you want the BBB to do , as you
only have limited resources

A4988 is a standard stepper driver and works no differently than any other
,

if Linuxcnc is too much of bruteforce etc , see Derricks video here , it
works very well

http://derekmolloy.ie/beaglebone/driving-stepper-motors-in-embedded-linux-on-the-beaglebone/

Shout if i can be of help

Dave

see
Linuxcnc.org

Machinekit see
http://www.machinekit.io/
google group machinekit






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