I'm new to uLisp, and asking if anyone has advice and/or source code for driving steppers, servos, reading encoders, etc.
Thank you for your valuable time,
Sorry for the delay in replying. There's no built-in support in uLisp for driving steppers and servos or reading encoders, but you could add your own functions to interface uLisp to the Arduino libraries to do this. For more information see:
Adding your own functions