Although working with stepper motors is pretty simple once you get the hang of it, there's nothing wrong with making it even easier if possible. To do this the use of an Arduino library is always useful - and a new library by Igor Campos us quite promising. His "CustomStepper" library can be used to control bipolar stepper motors with a variety of parameters - including RPM, steps per rotation and also accepts the stepper sequence and rotational direction.
Furthermore the motor run function frees the Arduino hardware timer for other uses which allows you to control more than one motor at the same time. Interesting work, so for more information and to download the library - visit the Arduino Playground. And for more, we're on twitter and Google+, so follow us for news and product updates as well.
If you're looking into starting with Arduino and robotics, such as controlling a stepper motor (or DC motors) from your Arduino or compatible, check out our new HBRIDGE: DC/stepper motor shield. Based around the powerful Allegro A4954 H-bridge driver IC you can control two DC motors with complete ease, or one bipolar stepper motor. With connections for external power management, a complete beginners' guide and documentation - motor control couldn't be any easier. For more information and to order, visit the HBRIDGE: page.