Some resources to help you getting started with STM32 programming.
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This Arduino compatible motor Driver shield is a full-featured products that it can be used to drive 4 DC motors or two 4-wire stepper and two 5V 'hobby' servo. It drive the DC motor and stepper with the L293D, and it drive the servo with Arduino's pin9 and pin10.
Note: Images are just for representational purpose and does not contain an Arduino compatible base board.