If there isnt, is there a way to control stepper motors with the dev kit? Would that be using PWM's?
The PSoC can be easily used to control a stepper motor driver which usually has got one or two inputs for the direction and a step input.
To provide this interface chip with a clean pulse train I would suggest you to use a PWM which can be varied in speed programmatically.
There is a product called the GRBLshield. It has all the IO and drives that you need to do a small CNC machine. The GRBL software that runs on an Arduino Uno is a very good piece of code done by some very bright minds. It is written in optimized C and not the Arduino framework so it could possibly be ported.