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I have just finished making the sharpsky focusser so it can handle 6Amps instead of 500mA by using 4 tip 41C's and 4 4001 diodes as spike protection.
The tip41 base of each is connected to the respective output of the uln2003.
All four emitters are connected to ground and the collectors to the coils of the motor.
See picture below.
just use the right bit of the schematic so only the transistors and diodes are necessary.
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