sorry i forgot to mention about my stepper controlers but they are out of a robotic arm that was trashed. there is not model on them nor could i find documentation on them,
i know this pic wont help with any specifics but just so you know what im working with
and it is the motor controler that works with two pins
and as for the part about the library. what i meant to say is that would it be possible to have a program that runs in the background and sends out the neccesary pulses and you just update the speeds. in the same way that the servo library works expect for have to send out what the stepper controller needs instead of the servo stuff