They’ve taken the field-oriented control algorithm and encapsulated it into a compact Arduino library, added a host of examples, and minted a stackable BLDC motor control shield to boot.

It handles up to four axes of step-and-direction motion control ... Arduino Wrapper Library. This allows you to write code within the easy-to-use Arduino IDE and using Arduino command syntax. This ...

Most could probably even write a phone application to do the control ... Arduino and ESP controllers. On the phone side, you can use Android or iOS. The RemoteXY site has plenty of examples.