See http://www.cs.uiowa.edu/~jones/step/

That will tell you what you need to know.

If you want help with specific devices, you need either provide a link or a more thorough description of the devices.

Specific details about the motor would help, too, e.g. manufacturer, specific type, number of windings, rated current, voltage, available supply voltage and current, load rating, required torque, both stepping and holding, etc, not to mention load characteristics.

RE