Thanks very much for the responses guys. Ive been hunting around to get more info on the motor. Havent been able to find too much but even just looking at the scanner Ive realized that its a 12v model.
I think I need to hunt around for some motors with specs more like one used in the tutorial or have a far more robust darlington setup.
Im beginning to wonder if I might be better off purchasing a stepper motor controller board and motors kit, so that I can focus on writing the software, which is ultimately my end goal. Does anyone know of any good hobby level stepper motor / controller kits?