Mark Gilbey and I are currently working on my poor man's pick and place 'bot. We'll be moving the head around using some SparkFun steppers, and I liked the look of the EasyDriver Stepper Controller.
The EasyDriver website has an examples page which includes a wiring diagram and sample Arduino sketches. I tried it out and everything just worked.
The motor is turning in micro-steps of 1/800th of a revolution, at a speed of 5000 micro-steps per second.