I need to implement a stepper motor drive for a line following robot.
The circuit diagram I'm thinking of making is attached below. I want to know if there is any way to reduce the components. The power transistor takes up a lot of space and the 2W resistance in series with the diode also takes up space.
I also want to know if the opto couplers can be removed(safely). Also will i be better off using a bipolar drive with one of those ICs with two H bridges?