@m_shaban
I was recently helping a member on here develop a control & drive system for his own project with multiple motors of mixed types.
As we live hundreds of km apart, we were lucky in that the project only required fundamental concepts, working with arrays of motors, and intuitive control methods were fairly easy to realise a positive outcome.
The starting point which has been mentioned many times - is don’t start out building the whole project… Begin with building and testing small parts of the final ‘idea’. Only then start tying them together as you understand each part perfectly.