4Tronix do a small stepper motor board driver that lets you connect 2 (or 4 steppers depending on model) to your Pi.
The normal ScratchGPIO stepper commands can be used https://simplesi.net/scratchgpio/using-stepper-motors/
Basically, create variables called MotorA and MotorB and then issue
broadcast stepper
You can then vary the values of MotorA and MotorB from -100 to 100 to control the speed and direction of your steppers
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