I’m not sure what you mean by “step generation”. The motors we use can either be driven by Pulse-Width Modulation (PWM), and most micro-controllers for this purpose do that in hardware based upon a defined level.
Given that the exact API on how to set the PWM is MCU specific, I wonder how “generic” MachineKit would be. Also, given that the code for this is largely trivial and consists out of writing an input value to the right output register, I wonder what benefit is to be gained from MachineKit.