Need Help: 4 wires bipolar stepper motor

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I need references or tutorials (programming in C) to drive some bipolar stepper motors using AVR. The motors are 4 wires (black, brown, orange, yellow) PM42S096 and the driver are L293D.

Help me please.

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An often suggested first stop is
http://homepage.cs.uiowa.edu/~jo...

From there you identify your wires, and select your stepping method.

I've posted my code before (that uses a driver chip). I'd think a search in these forums for "stepper" and/or "step motor" would give good threads as results.

Then there is always http://www.lmgtfy.com/?q=atmel+a...

You can put lipstick on a pig, but it is still a pig.

I've never met a pig I didn't like, as long as you have some salt and pepper.