Hi,
For running s stepper motor on a controller, you need to first identify the sequence of the coils that would make the shaft of the motor rotate in a particular direction, then once this is identified connect the leads at the output pins of the stepper motor driver (ULN 2003 or equivalent) and run the program on your microcontroller.

For identifying the sequence of leads of your stepper motor, connect a positive voltage (say +5V froma normal radio battery) at the common terminals of your motor, and then sequentially ground the 4 remaining leads until you notice that the sequential grounding results in the same direction of movememt of your shaft.

For running a DC motor, you need to use an H-bridge as the interface driver.