I am using a microstepper from allmotion that microsteps at 1/256th step per step input

I plan to use a 16F676 to provide step & direction signals to the motor controller

I have a -5v to +5v input siggnal to the pic a/d

How do I configure the pic to apply the hightest resolution on the input
and calculate the steps & direction for the output.

I am stumped right now.

0v means the motor doesn't move.

the input signal is derived from an electrolytic tilt sensor condtioning board