LCD keypad shield+Arduino Motor Shield (L298N)+stepper motor with SD02B driver

Projects Programming
3

this is link for my motor shield:

this is link for my lcd keypad shield:
http://www.dfrobot.com/wiki/index.php?title=Arduino_LCD_KeyPad_Shield_(SKU:_DFR0009)

this is link for my stepper motor:

this is link for my Enhanced 2A Stepper Motor Driver:

actually i don't no how to connect Enhanced 2A Stepper Motor Driver with my arduino rev3, what i konw is Enhanced 2A Stepper can connect with arduino rev3 by using UART. below is my sample programming by using dc geared motor.

this is my sample of programming:
#include <LiquidCrystal.h>

/*
The circuit:

  • LCD RS pin to digital pin 8
  • LCD Enable pin to digital pin 9
  • LCD D4 pin to digital pin 4
  • LCD D5 pin to digital pin 5
  • LCD D6 pin to digital pin 6
  • LCD D7 pin to digital pin 7
  • LCD R/W pin to ground
    */

LiquidCrystal lcd(8, 9, 4, 5, 6, 7);

//Keypad Button Numbering
#define RG 0
#define UP 1
#define DW 2
#define LF 3
#define SEL 4

//constant variable
const int mtr1_In1 = 5;
const int mtr1_In2 = 6;
const int mtr2_In1 = 4;
const int mtr2_In2 = 7;

int analogPin = A0;
int adc_key_old;
int adc_key_in;
int NUM_KEYS = 5;
int adc_key_val[5] ={30, 150, 360, 535, 760};

/*******************************************************************************

  • PRIVATE FUNCTION: setup()
  • PARAMETERS:
  • ~ void
  • RETURN:
  • ~ void
  • DESCRIPTIONS:
  • Define of I/O pin as Input or Output

*******************************************************************************/
// The setup() method runs once, when the sketch starts
void setup ()
{
//Set the mode for each digital pins whether input or output
pinMode(mtr1_In1, OUTPUT);
pinMode(mtr1_In2, OUTPUT);
pinMode(mtr2_In1, OUTPUT);
pinMode(mtr2_In2, OUTPUT);

lcd.begin(16, 2); // set the lcd dimension
lcd.clear(); // LCD screen clear
lcd.setCursor(0,0);

adc_key_old = analogRead(analogPin); // store the unpress key value
}

/*******************************************************************************

  • PRIVATE FUNCTION: loop()
  • PARAMETERS:
  • ~ void
  • RETURN:
  • ~ void
  • DESCRIPTIONS:
  • Non-Stop looping

*******************************************************************************/
void loop()
{
adc_key_in = analogRead(analogPin); // read ADC value
adc_key_in = get_key(adc_key_in);
lcd.clear();

if(adc_key_in == UP) // Check whether Up button pressed
{ // Move forward
analogWrite(mtr1_In1, 220);
digitalWrite(mtr1_In2, HIGH);
analogWrite(mtr2_In1, 220);
digitalWrite(mtr2_In2, LOW);
lcd.setCursor(0, 1);
lcd.print("Move Forward");
delay(200);
}

else if(adc_key_in == DW) // Check whether Down button pressed
{ // Move backward
analogWrite(mtr1_In1, 220);
digitalWrite(mtr1_In2, LOW);
analogWrite(mtr2_In1, 220);
digitalWrite(mtr2_In2, HIGH);
lcd.setCursor(0, 1);
lcd.print("Move Backward");
delay(200);
}

else if(adc_key_in == LF) // Check whether Left button pressed
{ // Rotate to left
analogWrite(mtr1_In1, 150);
digitalWrite(mtr1_In2, LOW);
analogWrite(mtr2_In1, 220);
digitalWrite(mtr2_In2, LOW);
lcd.setCursor(0, 1);
lcd.print("Rotate to Left");
delay(200);
}
else if(adc_key_in == RG) // Check whether Right button pressed
{ // Rotate to right
analogWrite(mtr1_In1, 220);
digitalWrite(mtr1_In2, HIGH);
analogWrite(mtr2_In1, 150);
digitalWrite(mtr2_In2, HIGH);
lcd.setCursor(0, 1);
lcd.print("Rotate to Right");
delay(200);
}

else
{ // Display button navigation for each movement
lcd.setCursor(0,0);
lcd.print("UP=FW DW=BW");
lcd.setCursor(0,1);
lcd.print("LF=LF RG=RG");
delay(200);
analogWrite(mtr1_In1, 0);
analogWrite(mtr2_In1, 0);
}
}

/*******************************************************************************

  • PRIVATE FUNCTION: get_key
  • PARAMETERS:
  • ~ integer
  • RETURN:
  • ~ unsigned int input
  • DESCRIPTIONS:
  • convert the ADC value to number between 0 to 4

*******************************************************************************/
int get_key(unsigned int input)
{
int k;

for (k = 0; k < NUM_KEYS; k++)
{
if (input < adc_key_val[k])
{
return k;
}
}

if (k >= NUM_KEYS)
k = -1; // No valid key pressed

return k;
}

but it doesnt work.... =(