Maybe a microcontroller (Arduino) 
Do you have one? If yes, which one?
Which steppers and servo? Both of those are outside my area of expertise but you will more than likely need a decent power supply.
If you already have an Arduino that supports WiFi, OK. Does it have to be WiFi or is BlueTooth a possible alternative?
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Your topic has been moved to a more suitable location on the forum. Installation and Troubleshooting is not for problems with (nor for advice on) your project See About the IDE 1.x category.