Stepper Motor Angle Changing depending on Feedback

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so have ball on beam project , i'm quite new arduino have managed complete project prior have experience. project demands ball balanced @ point on beam , beam has rotate clockwise , counter clockwise raise or lower beam move ball closer set point. have feedback system give analog input, using adc plan on getting close set resolution number. example if position require translates resolution number of 771, when analogread > 771 motor drives clockwise , vice versa.

the problem every bit of resolution away set resolution, angle change. example if set point 771 , analog read reading 800 angle 'x', decreases towards 771 , reaches 780, angle decreases because closer set point, can considered method of damping guess, instead of leaving angle same , letting system overshoot , compensating changing motor direction, reduces overshoot reducing angle.

unfortunately i'm no pro @ , bit lost on do. if can guide me @ least on concept of should doin or commands appreciated.

al

here's person similar project. perhaps 2 should collaborate.
http://forum.arduino.cc/index.php?topic=170358.msg1266670#msg1266670


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