Homebrew PCBs

Hello Everyone,

I need some help starting out with CNC.  I am going to build a CNC router 
type machine to route pcbs.  I need some help with the circuits.

I have 3-60oz in stepper motors I got from HobbyCNC.  They are marked 
STH-55D203-02 1.8 deg/step, 5.1V 1A. I believe they are unipolar from the 
docs and they have 6 leads coming from them. This is my first adventure 
with controlling stepper motors.  I have another project for CNC when I get 
finished with this one.  My mother (I am 34 as of Sunday) wants one of 
those embroidery sewing machines that cost $3000+.  She want's to do some 
sewing designs and monograms on clothes.  If I get my CNC router/driller 
working, I am going to attempt to build her one with the other group of 3 
unipolar stepper motors I have.

I went looking for ICs to control all of the stepper motors I have.  I have 
a total of 6 motors, 3 being of one make and spec, and the other 3 being of 
another make and spec.  Each group of 3 motors is the same spec, so I do 
not have to worry about trying to control motors of different 
characteristics.  I found the UCN5804B to be a good chip, but it will not 
meet the power specs of both stepper motor group I have.  They have 
different current ratings.  One group is 1A, the other 1.44A.  So, I will 
need some transistors that can interface with the 5804B so that no matter 
which motor group I am using, the circuit will power them.

I found the TIP 120 to be able to put out up to 3A, which is more than 
enough. Page 5 of this doc:http://www.alltronics.com/download/5804.pdf 
shows the circuit I would like to build.  I know that I will need the 
diodes as circuit protectors.  Can anyone show me how to hook up the Tip's.
I had lots of theory 12 yrs ago in college, but could not graduate do to 
not being able to pass calculus.  They blocked me from taking my Senior 
level classes.  So I wasted a lot of money!

I did an extensive search on the net and came across several chips, but 
would still need the extra transistors to power the more current hungry 
motor.  Also, these chips were more expensive.  It is not that I am being 
cheep, I could purchase a board which many on this group seem to sell, it 
is just that I wish to learn more about electronics.

I am looking to purchase the chips this week, so I anyone could help me 
out, I would appreciate it.

Thanks,
Brian G.