🚀 go-pugleaf

I have a number of small stepper motors I want to use for a robotics
project.  These were purchased from American Design Components a couple
years ago.  They are N. A. Phillips  part no A82310-M2.  Step angle 1
degree; 5 volts DC; Stall Torque 17 oz-in.  These have four wires, two
going to each of the two coils.  Can anyone suggest to me a circuit to
use that will let me get a range of motor speeds as well as reasonable
power output from these things?  Almost every circuit I have seen has
commen power leads for the two coils, these don't exist on this motor. 
I want the motors to be controlled by an IBM PC using the parallel or
serial port for I/O.  Also, how should I interface the digital circuitry
to the motors themselves?  I have seen circuits using transistors as
switches for current through the coils, but I'm not real good with
analog circuits.  Any help would be appreciated even if it is just a
referance to a book or magazine article.        Thanks,   Todd