Here is a simple guide to get your stepper motors spinning. The video below demos what I made. You can see how everything is set up below that:

Play video

Parts:

• Teensy 3.0 or 3.1: Substitute your own Arduino/microcontroller
• Stepper Motors: 1.7A NEMA 17 4-wire
• Motor Controllers: I used a 3.5A controller with the TB6560 chips
• Power Supply: 24V 10A (I used a Sopudar SPD-240-24)

Wiring Diagram / Schematic:

Code (.ino, arduino code):

const int stepperX_pul = 0;
const int stepperX_dir = 1;

const int stepperY_pul = 2;
const int stepperY_dir = 3;

int microstep_count = 0;

void setup()
{
	// Set up the x axis
	pinMode(stepperX_pul, OUTPUT);
	pinMode(stepperX_dir, OUTPUT);

	// Set up the y axis
	pinMode(stepperY_pul, OUTPUT);
	pinMode(stepperY_dir, OUTPUT);

	// initialize the pulse pins
	digitalWrite(stepperX_pul, HIGH);
	digitalWrite(stepperY_pul, HIGH);

	// initialize the direction pins
	digitalWrite(stepperX_dir, HIGH);
	digitalWrite(stepperY_dir, HIGH);
}

void loop()
{
	digitalWrite(stepperX_pul, HIGH);
	digitalWrite(stepperY_pul, HIGH);

	delayMicroseconds(100);

	digitalWrite(stepperY_pul, LOW);
	digitalWrite(stepperX_pul, LOW);

	delayMicroseconds(100);

	// Once we make a full revolution,
	// make the motor spin the other direction
	if(microstep_count >= 3200)
	{
		digitalWrite(stepperX_dir, !digitalRead(stepperX_dir)); // Change direction.
		digitalWrite(stepperY_dir, !digitalRead(stepperY_dir)); // Change direction.
		delay(100);

		microstep_count = 0;
	}
	else
		microstep_count++;
}