I've actually done this a few years ago. I don't have any notes or schematics so please do not ask but its not a trivial task.
Controlling the speed of a large drum with an unbalanced wet load of washing can be tricky. Too fast and the clothes don't tumble - they stick to the side of the drum. Too slow and the machine ends up with one big lump of wet clothes bumping away.
Then there is controlling the temperature of the water, the rinse / detergent / conditioner cycles as well as mixing the inlet water to the right temperature.
Get the balance incorrect when you go for a fast spin and you end up with the machine chasing you around the room.
The best advice I can give you is to work on the motor controller first - get it running in a closed loop so you know how fast the motor/drum is running. Write some firmware that monitors the speed of the drum and senses imbalanced load so you can vary the drum speed and redistribute the washing until reasonably balanced. Once you have this obstacle overcome, you have got past the hard bit !