Example of driving a stepper motor using an Adruino, the AccelStepper library for ramping and the tinystep II stepper motor controller available at mechapro.de

accelstepper_tinystep.ino

// Example of driving a stepper motor using
// an Adruino and the AccelStepper library 
// via the tinystep II stepper motor controller 
// available from mechapro.de

#include <AccelStepper.h>
#include <stdint.h>

// pin assignment
const uint8_t stepPin = 2;
const uint8_t errorPin = 3;
const uint8_t dirPin = 4;
const uint8_t disablePin = 5;
const uint8_t sleepPin = 6;

// actuate stepper motor
void forwardstep() {  
  digitalWrite(dirPin, HIGH);
  digitalWrite(stepPin, LOW);
  delayMicroseconds(1);
  digitalWrite(stepPin, HIGH);
}

void backwardstep() {  
  digitalWrite(dirPin, LOW);
  digitalWrite(stepPin, LOW);
  delayMicroseconds(1);
  digitalWrite(stepPin, HIGH);
}

// setting up the AccelStepper library with custom actuator functions
AccelStepper stepper(forwardstep, backwardstep); // use functions to step

void setup()
{
  // configuration of gpio interface
  pinMode(stepPin, OUTPUT);
  pinMode(errorPin, INPUT_PULLUP);
  pinMode(dirPin, OUTPUT); 
  pinMode(disablePin, OUTPUT); 
  pinMode(sleepPin, OUTPUT); 
  
  digitalWrite(disablePin, HIGH);
  
  // ramp parameters
  stepper.setMaxSpeed(12000);
  stepper.setAcceleration(2000);
}

int dir = 1;
void loop()
{
    if (stepper.distanceToGo() == 0)
    {
        // Random change to speed, position and acceleration
        // Make sure we dont get 0 speed or accelerations
        delay(100);
        stepper.move(dir * 50000);
        dir = dir * -1;
    }
    stepper.run();
}