How would I make a circuit to control a stepper motor with a pickaxe and a motor control?

You first have to determine which typeof stepper motor you are going to use. Bipolar or unipolar are wired differently sending current pulses to the coils in  either the same direction(unipolar) or  in alternating directions(bipolar).   Cdepending on which you use the circuit coud be as simple as wiring the coils with a common power leg or a mor complex H bridge.

The good news is there are stepper chip availabe that greatly simplify the construction of  a driver circuit but you have to select the correct chip for the type of stepper