Creating hardware and software for stepper motor control has always been time-consuming. A quick short-cut is to buy pre-programmed ICs or driver boards that has simple phase-drive commands for stepper motors with built-in selectable acceleration profiles to take the software burden off a main processor with a single command instruction for movement.
Lots of companies take this approach: CNC and large cutting machine manufacturers, as well as medical instrument and test equipment designers.
Take a look - like these folks - at our pre-programmed JRKerr products! http://bit.ly/1JRdy9b