Inverted Pendulum/closed loop stepper motor

I have a hobby project that I am working with and now could use some help. Having successfully small scaled the project I wish to supersize it. Essentially I am working with an inverted pendulum (self balancing robot). I am stuck at the point of integrating a large stepper motor (closed loop) into the system.

Effectively I have an Arduino Nano, MPU 6050, Single axis (roll), Kalman filtering, Operating max/min limits <> roll angle, PID, Serial Plotter, Closed loop Stepper motor/driver/encoder.

I cannot make all work together seamlessly in an orderly way. Can you help?

Навыки: Arduino, Электроника, Микроконтроллер

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