Motor for brake shaft

So you are using the motor to both power the shaft and to brake it - that takes a 4-quadrant motor controller with programmable torque limits and modes - more than a regular motor controller, something more like a servomotor controller in fact.

If you'd said all this straight up I would not have answered as I did above. Check out https://xyproblem.info

This is quite advanced motor control and finding a controller that's at hobby prices rather than industrial prices is going to be a bit tricky I think.