Microchip app notes: AN906, AN907, AN822, and AN1307 give a pretty good set of examples for circuits and accompanying source code on how to do it. They go into microstepping, but you don' t have to do it that way. If your stepper winding voltages match your supply (5V windings and 5V supply) there are even easier ways to do it. Are you running motors that are matched to your supply voltage?
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