Modify a Brushless Gimbal Controller BGC

I am attempting to locate someone who can modify/hack a brushless gimbal controller (Storm32 BGC), ultimately, to simply move a brushless gimbal motor, back and forth, from a WiFi, or Bluetooth enabled device, preferably, a smartphone. The controller uses Ti's DRV8313 and an STM32F103RCT6 microcontroller. I'm also open to suggestions for alternatives to the above- this project is for an experimental camera slider. I am even open to designing a custom solution. Speed must be easily adjustable, and there must be a way to determine when it's reached the end of it's track- end stops, or similar. Thanks!