Im no electronics expert, but hanging around these forums, and using Google has helped me understand alot.
For 6 wire stepper motors, you can wire them as either Unipolar,or Bipolar. Personally, I would go with Unipolar as the drivers are simpler to construct and understand, but Bipolar will give you more torque.
PIC stepper motor drivers aren't that hard to construct or program,and here's a perfect simple example, using a 12c508. I would recommend this circuit for an extremely simple unipolar driver. You could also use this for bipolar steppers.
I hope this information helps.