http://www.arduino.cc/en/Tutorial/StepperUnipolar has some simple unipolar stepper motor code. I hooked up some steppers that I got on Ebay and voila it works!
The motor is driven from a 9 volt supply through a 12v automobile dome light lamp as a load. The motors were dirt cheap - and with the 9v drive they are rather hard to stall with your fingers. Now i am only 1/3 the way to a CNC setup.
I have to play with full drive and half stepping a little - just because i can - to better understand the motors.
My goal is to build a cheap CNC like this.