Some resources to help you getting started with STM32 programming.
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This is the DC Motor + Stepper motor driver board which will let you use 2 x bi-polar stepper motors or 4 x brushed DC motors (or 1 stepper and 2 DC motors).
Since this only uses the I2C (SDA & SCL pins), it works with any board - ATmega32u4, ATSAM M0 or ESP8266-based. You can stack it with any other board or with itself (just make sure you have each wing with a unique I2C address).
You can use any DC or stepper motors that run from 4.5-13.5VDC and draw under 1.2A per coil.