I already have the hardware in hand—an ESP32, two NEMA17 stepper motors on TB6600 drivers and vline belt actuators, and a 12 V linear (zaxis ) actuator—and I need a working, three-axis X-Y-Z system for a small robotic arm project. The goal is simple but non-trivial: lift and move a 4-pound object vertically, then travel side-to-side with precision. I want the axes homed by limit switches and the whole setup driven by clean, well-documented firmware that I can later extend. Where I’m at: • Motors, drivers, power supply, and basic frame are assembled. • Wiring is connected. • No firmware or motion control logic exists yet. What I need from you: • A complete wiring diagram showing the ESP32 pinout to TB6600s, actuator control, and limit switches. • Firmware (Arduino-style or ESP-IDF) that homes each axis, accepts simple position commands, and moves smoothly while respecting the 4-lb payload. • Tuning guidance: current-limit settings, acceleration/jerk values, and any tricks to keep the steppers cool at 12 V. • A brief setup document so I can replicate your results after the hand-off. If you’ve done CNC, pick-and-place, or other stepper-based systems on ESP32, this should feel familiar. I’m available for quick video calls or to provide photos and exact part numbers as needed. Let me know how soon you can get a first motion test running and what you’d need from my side to start.