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This blog post is a very detailed writeup of some A4988 stepper motor driver heatsinking experiments.
This post in the Trossen Robotics Community forum shows a pair of Wixels are added to an Arbotix Commander V2 remote control, allowing it to send its signals to a computer. The author gives us a nice compliment:
Not to be a shill, but that was easier to set up than any MCU + Xbee configuration I’ve seen.