That's too big a subject to answer in this venue. I took a quick look at
the Embedded Systems Programming site, however, and came up with this
article: http://www.embedded.com/story/OEG20030410S0057 . I skimmed through
it and it looks pretty good.
One note of caution however: stepper motors have deceptively low
performance. If you are only going to go slow, if you're operating well
within the torque limits of the motor, and if you don't need any higher
precision than is offered by the stepper plus whatever geartrain you're
using then it's probably a good choice. If missing a step would be a
disaster, if you have to go faster than the initial speed the motor _with
load_ is capable of going, or if you don't meet _all_ of the criteria for
using a stepper then you need to rethink your design decisions.
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