Hello so I'm trying to do the inverted pendulum porject, here is my assembly

I'm trying to use a 1 amp Nema17 with a498 driver with 24 volt 1.5 amp power supply on a arduino uno. I'm using the stepper library with the following code to just test out the speed of the motor with no load.

#include <AccelStepper.h>


const int step_pin = 4;
const int dir_pin = 5;
const int ms1 = 6;
const int ms2 = 7;
const int ms3 = 8;
AccelStepper stepper(1,step_pin,dir_pin);
const float conversion = 0.1; //steps to arc length (mm)
const float safe_range = 200.0; //mm
bool run = true; //flag varible to turn off
int acceleration = 1000;
int maxspeed = 4000;
int speed = 3700;
int steps = 1200;


void setup()
{
 Serial.begin(9600);
 //setup microstepping
 pinMode(ms1,OUTPUT);
 pinMode(ms2,OUTPUT);
 pinMode(ms3,OUTPUT);
 digitalWrite(ms1,HIGH);
 digitalWrite(ms2,LOW);
 digitalWrite(ms3,LOW);
 //setup speed + acceleration
 stepper.setMaxSpeed(maxspeed);
 stepper.setAcceleration(acceleration);
 stepper.setSpeed(speed);
 //stepper.move(steps);
 delay(2000);
}


void loop()
{
 //float step = stepper.currentPosition();
 //float s = step*conversion;


 if ((Serial.available() > 0))
 {
 run = false;
 }


 if (run == true)
 {
 stepper.runSpeed();
 }
}


float absolute_value(float value)
{
 if (value < 0.0)
 {
 value = -value;
 }


 return value;
}

And it stalls at 3700 steps per second. I've tried to use the motor with the encoder to implement a PID controller, here is the code

#include <AccelStepper.h>

//define pins
#define ENCA 2
#define ENCB 3
const int step_pin = 4;
const int dir_pin = 5;
const int ms1 = 6;
const int ms2 = 7;
const int ms3 = 8;
//stepper parameters
AccelStepper stepper(1,step_pin,dir_pin);
const float conversion = 0.2; //steps to arc length (mm)
const float safe_range = 150.0; //mm
bool run = true; //flag varible to turn off
int acceleration = 10000;
const int maxspeed = 1000;
int steps = 50;
int timestep_count = 0;
int timestep_limit = 5;
//encoder parameters
float count = 0;
const float resolution = 0.3;
const float theta_range = 30.0;
long prev_T = 0.0;
float prev_error = 0.0;
//PD controller gains
const float P = 10.0;
const float D = 10.0;

void setup()
{ 
 Serial.begin(9600);
 //STEPPER
 //setup microstepping
 pinMode(ms1,OUTPUT);
 pinMode(ms2,OUTPUT);
 pinMode(ms3,OUTPUT);
 digitalWrite(ms1,LOW);
 digitalWrite(ms2,LOW);
 digitalWrite(ms3,LOW);
 //setup speed + acceleration
 stepper.setMaxSpeed(maxspeed);
 //ENCODER
 pinMode(ENCA,INPUT_PULLUP);
 pinMode(ENCB,INPUT_PULLUP);
 attachInterrupt(digitalPinToInterrupt(ENCA),readEncoder,CHANGE);
 delay(1000);
 prev_T = micros(); 
}

void loop()
{ 
 //record time difference
 long cur_T = micros();
 float T = ((float)(cur_T - prev_T))/(1.0e6); //delta T in seconds
 //compute error and derivative
 float angle = count*resolution;
 float error = -angle;
 float delta_error = (error - prev_error)/T;
 prev_error = error;
 prev_T = cur_T;
 //compute control signal
 int u = P*error + D*delta_error;
 if (u == 0)
 {
 u = 1;
 }
 stepper.setSpeed(limit(-maxspeed,maxspeed,u));

 float step = stepper.currentPosition();
 float s = step*conversion;

 if ((absolute_value(s) >= safe_range))
 {
 run = false;
 }

 if ((run == true) && (abs(angle) <= theta_range))
 {
 stepper.runSpeed();
 }

 Serial.println(u);
}

int limit(int min, int max, int value)
{
 if (value < min)
 {
 value = min;
 }
 else if(value > max)
 {
 value = max;
 }

 return value;
}

int sign(int a)
{
 if (a >= 0)
 {
 return 1;
 }

 return -1;
}

float absolute_value(float value)
{
 if (value < 0.0)
 {
 value = -value;
 }

 return value;
}

void readEncoder()
{
 int a_state = digitalRead(ENCA);
 int b_state = digitalRead(ENCB);

 if (a_state == b_state) //CCW
 {
 count = count - 1;
 }
 else //CW
 {
 count = count + 1;
 }
}

Although the motor moves in the right direction, it feels choppy and I don' feel confident it can reach the desired speeds to balance. Would a DC motor be better? The only concern I have with DC is that it has lower torque so I'm worried my cart would be too heavy. Any advice would be appreciated, thanks

Arduino

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