I have worked with several Motor control drives and also Power Electronics based circuits. I am an Embedded Enthusiast and have won close to 50+ electronics and robotics based competitions.
Worked on various peripherals of various Atmel and Microchip microcontrollers like Timers, Counters, Serial Communication, Two Wire Interface, ADC, PWM and Input Output ports. Worked with several PMDCs and stepper motors and single phase induction motors. Also, have worked with Arduino Uno and Mega.
Your application looks like a solar tracker to me. I have worked with several similar projects and I guess I can help you with your work, genuinely.
I can also suggest you ways to decrease the circuit complexity in your project by adding simpler drivers;