BTW, if you get bored one time, pleeease write a version for stepper motors as well smiley-wink
What is your specific application that make you choose steppers over servo's ??
does anybody know the AT-command to change the PIN-code for the BT module?
Assuming you have a JY-MCU or compatible board, see here and scroll down to mid page:
AT+PINxxxx Sets the pairing password of the device Any 4 digit number can be used, the default pincode is 1234 Response: OKsetPIN
It seems, that soft_serial only works up to 57600 BAUD. My BT-module was setup to 115200 BAUD, that's why it didn't work
Using hardware serial, mega2560 board should be OK @115200 baud (and higher with a third party Serial Monitor)