I suppose it should be possible to make the controller more "intelligent".

1.) Auto Power. The software sets all motors to 255 and rotates them. If everything is OK, the power shall be decreased. If there are missing steps, we know this is the limit, and the power shall be increased a little bit, and this value shall be stored.

2.) This procedure could also be used for detecting unbalances. If there is a certain angle which needs more power to avoid missing steps, and all other angles need less power, this means, the motor is unbalanced.