All you need to drive a stepper motor is a quadrature clock, which can be obtained from two D-type flip-flops. Add some transistor drivers for the motor coils and a clock oscillator for the flip-flops and ... Voila!
Back in the day, before PWM became popular, we did this with hundred volt power supplies switching high-voltage power transistors with the motor windings in series with large power resistors so the resistance swamped the motor reactance. Dissipated more power in those resistors than we did in the motor, but it worked and had plenty of torque. Only computer in sight was a mainframe attended by IT priests in white coats, all protected by glass windows and enough air conditioning to refrigerate a good sized beer truck.