I develop on a Raspberry connected with UART to a STM32 bigtreetech GTR that support 6 steppers + one extra stepper for the gripper.
I'm using ROS1, ROSSERIAL_PYTHON, moveit (to be finalized) , FlexyStepper library. And can be connected with a gamepad (e.g. logitech) (see youtube video)
Hello, no I don't home at the moment, I was thinking to experiment MPU-6050 ( Gyro Sensors + Accelerometer for arduino)