I have a functioning program that controls two DC geared motors with PWM. I am using a UDN2993 motor controller. I am building a new program which controls also two motors, one DC geared motor and one geared stepper motor. the stepper motor is controlled by a MC3479 motor controller. It uses a enable line which uses a PWM at 50% duty cycle and a phase line(0, or 5 volts) which sets direction.