I mentioned that I plan on using the Onstep telescope motion control system to handle motion control for this rotator
Howard, the creator of Onstep, has quite a few models available, this one is the MiniPCB v2. and the processor can either be a Teensy 3.2 or 4. I've got a Teensy 4 in there as that's what I have. He also has a lot of options for stepper motor drivers. Just change the code to suit.
Limit switches are connected to the