Hi,
I just posted a review of the code from RDL2, which includes a long at smooth-stepping. If you are programming stepper motors, this might give you a few ideas.
RDL 2 Code Review: [url=https://www.youtube.com/watch?v=RLmfHUZlC-c[/url]RDL 2 Arduino Stepper Motor Utility Code-Review - YouTube
--BrendaEM