Dc motor with PWM and current sensing

I appreciate you from bottom of my heart. Thank you sincerely.

As you observed, I have faced a lot of difficulties.

And in case of some, I got to know but I was not able to get things together because of my ignorance of MCU.

One of them is that my MCU board(Arduino Uno) is not capable of processing around 10kHz PWM and calculating other things. I thought It would introduce delay and I compromise it to keep 3kHz which seems a bit more plausible.

Then, do you think Arduino Uno can deal with my entire project's process? or do I have to change my MCU? If you have any idea of it please let me know...

And I will study more about motor control by the video you upload.

Thanks again!!