help required urgently

i want to do a simple manipulator of 3 degrees of freedom using steppers.
i am having steppers(6 wired,unipolar) of diff ratinings,
my problem is to provide the required driver ckt(darlington pair)
i want to generate logic sequence through parallel port of computer,
if the ratings on motor are somw V volts and A amp, if the resistance acreoss the coils is R ohms ,can any one give the req driver ckt(using power amplifiers r any other alternative)

waiting for ur help
kkk

I think this could help:
**broken link removed**