This is a dual H-Bridge controller… and having such is an absolute essential as GPIO is signal level ONLY, never for driving any large load, particularly inductive ones that can feedback and kill the GPIO or even the entire MCU.
We generally don’t do your programming for you… there are plenty of tutorial sites and “pay for programming” sites out there.
Besides, there are many topics in this forum already showing various examples of controlling motors. As recommended in the Welcome Topic and throughout this forum, please search first.
I recommend keywords like Robot, Motor, Car, Rover, etc…