I'm going with stepper motors because they are cheap with pretty good rotations and have a good torque. Virtually all hobbyist 3d printers use these for this reason. If I go with foc, I'll need them for control, otherwise I'll use them to ensure that the micro steps are being completed accurately. It's a combo 3d printer/light CNC machine/ multitool, so there may or may not be resistance to motion.