I spent some time to make moves smoothest. Because since i use stepper motors i had step skipping sometimes. So i decided to port Arduino stepper library to STM32. I had a little trouble with microsecond delays which has been used in Arduino library and I changed implementation a little. Now I can control speed acceleration and deceleration of my stepper. Also I switched stepper driver from A4988 to TMC2130 and now I have silent precision and smooth bearing moves.
I liked how it moves and think about to change 20kg servo to stepper with reductor.