For now there are separate io objects in Breakout for DC motors and Stepper motors. However because the Adafruit motor shield used a shift register in driving the motors, direct control of the motors on that board is not currently available.
There will be a couple of different ways to approach adding support for the adafruit motor shield. One is adding a new feature class to the utility folder (in the configurable branch) that wraps the af-stepper-class. The other is using the Shift feature class (in progress but should be added soon) to implement a custom feature class that has a similar API to the AF stepper class. In either case a new IO object in Breakout could be used to control the stepper shield.
I may have time to add an example for driving the stepper shield to the configurable branch in Firmata and to a new branch in the Breakout repo on github in a couple of weeks.
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