Update to CAD files, added more concept pictures, started off on the code for the electronics

Skipped organizing and uploading v2 of the design since it was lacklusting, feel like the v3 is closer to what i will leave the project as.

Code/AFRS.ino

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+#include <AccelStepper.h>
+
+// === Pin Definitions ===
+#define M1_STEP_PIN 0    // Reel motor step
+#define M1_DIR_PIN  1    // Reel motor direction
+
+#define M2_STEP_PIN 2    // Carriage motor step
+#define M2_DIR_PIN  3    // Carriage motor direction
+
+#define HOME_SW_PIN 6    // Home limit switch
+#define END_SW_PIN  5    // End limit switch
+
+AccelStepper reelMotor(AccelStepper::DRIVER, M1_STEP_PIN, M1_DIR_PIN);
+AccelStepper carriageMotor(AccelStepper::DRIVER, M2_STEP_PIN, M2_DIR_PIN);
+
+float RAIL_LENGTH = 50;   // 100mm linear rail
+float CENTER_POSITION = RAIL_LENGTH / 2.0f; // Center position
+
+// === Motor Configuration ===
+const int MOTOR_STEPS = 200;       // 200 steps/rev for NEMA 17
+const int MICROSTEPPING = 8;       // Set on driver board (MS1/MS2 jumpers)
+const float SCREW_LEAD = 4.0;      // mm per revolution (T8 screw)
+const float CALIBRATION_FACTOR = 2.0;
+const float STEPS_PER_MM = ((MOTOR_STEPS * MICROSTEPPING) / (SCREW_LEAD / CALIBRATION_FACTOR));
+
+// === Speed Settings ===
+const float REEL_RPM = 150;        // Reel motor speed
+const float CARRIAGE_RPM = 100;    // Carriage motor speed
+
+// State management
+enum State {
+  IDLE,
+  HOMING, 
+  FIND_END, 
+  RUNNING
+};
+State currentState = HOMING;
+
+// Manual distance tracking
+long targetSteps = 0;
+long stepsMoved = 0;
+// Position tracking
+float currentPositionMM = 0;  // Tracks actual position in mm
+
+float desiredPosition = 25;
+bool bounceBool = false;
+
+void setup() {
+  Serial.begin(115200);
+
+  // Configure limit switches
+  pinMode(HOME_SW_PIN, INPUT_PULLUP);
+  pinMode(END_SW_PIN, INPUT_PULLUP);
+  
+  Serial.begin(115200);
+  Serial.println("Starting motors...");
+
+  // Configure reel motor (constant speed)
+  reelMotor.setMaxSpeed((REEL_RPM * MOTOR_STEPS * MICROSTEPPING) / 60.0);
+  reelMotor.setSpeed(-reelMotor.maxSpeed());  // Negative for reverse
+  reelMotor.setMinPulseWidth(50);             // 50µs pulse width
+
+  // Configure carriage motor (constant speed)
+  carriageMotor.setMaxSpeed((CARRIAGE_RPM * MOTOR_STEPS * MICROSTEPPING) / 60.0);
+  carriageMotor.setSpeed(carriageMotor.maxSpeed());  // Positive direction
+  carriageMotor.setMinPulseWidth(50);                // 50µs pulse width
+}
+
+void loop() {
+  // State machine for carriage
+  switch(currentState) {
+    case HOMING:
+      runHoming();
+      break;
+      
+    case FIND_END:
+      runFindEnd();
+      break;
+      
+    case RUNNING:
+      //reelMotor.runSpeed();
+      if(bounceBool == false){
+        if(runMoveToPosition(desiredPosition - 0 )){
+          bounceBool = true;
+        }
+      }
+      else {
+        if(runMoveToPosition(desiredPosition - 20.0)){
+          bounceBool = false;
+        }
+      }
+      break;
+  }
+}
+
+void runHoming(){
+    // Move carriage in positive direction
+    if (carriageMotor.runSpeed()) {
+      stepsMoved++;
+    }
+
+  if (digitalRead(HOME_SW_PIN) == LOW) {  // Switch pressed (LOW with pullup)
+    carriageMotor.stop();             // Stop motor
+    carriageMotor.setSpeed(0);        // Set speed to zero
+    
+    stepsMoved = 0;
+    // Reset position tracking
+    currentPositionMM = 0;
+    carriageMotor.setCurrentPosition(0);
+
+    // Calculate steps needed to reach center
+    targetSteps = CENTER_POSITION * STEPS_PER_MM;
+
+    carriageMotor.setSpeed(-carriageMotor.maxSpeed());  // Positive direction
+        
+    currentState = FIND_END;
+  }
+}
+
+void runFindEnd() {
+  // Run carriage at constant speed
+  if (carriageMotor.runSpeed()) {
+    stepsMoved++;
+    // Update position based on direction
+    currentPositionMM += (carriageMotor.speed() > 0) ? 
+                         (1.0 / STEPS_PER_MM) : 
+                         (-1.0 / STEPS_PER_MM);
+    
+    // Print position every 100ms
+    // static unsigned long lastPrint = 0;
+    // if (millis() - lastPrint > 100) {
+    //   lastPrint = millis();
+    //   Serial.print("Position: ");
+    //   Serial.print(currentPositionMM);
+    //   Serial.println(" mm");
+    // }
+  }
+
+  if (digitalRead(END_SW_PIN) == LOW) {  // Switch pressed (LOW with pullup)
+    currentState = RUNNING;
+
+    // Stop carriage motor completely
+    carriageMotor.stop();
+    carriageMotor.setSpeed(0);
+
+    // Print final position
+    Serial.print("Final position: ");
+    Serial.print(currentPositionMM);
+
+    RAIL_LENGTH = abs(currentPositionMM);
+    CENTER_POSITION = RAIL_LENGTH / 2.0f;
+  }
+}
+
+bool runMoveToPosition(float position){
+
+  float distance = abs(abs(currentPositionMM) - position);
+  float margin = 0.1f;
+
+  // Print position every 100ms
+  // static unsigned long lastPrint = 0;
+  // if (millis() - lastPrint > 100) {
+  //   lastPrint = millis();
+  //   Serial.print("Position: ");
+  //   Serial.print(abs(currentPositionMM));
+  //   Serial.println(" mm");
+  //   Serial.print("Desired Position: ");
+  //   Serial.print(position);
+  //   Serial.println(" mm");
+  //   Serial.println(distance);
+  // }
+
+  // Calculate direction
+  if(distance > margin){
+    int direction = sign(position - abs(currentPositionMM));
+
+    int previousDirection = (carriageMotor.speed() / -1.0f) / carriageMotor.maxSpeed();
+    if(previousDirection != direction){
+      carriageMotor.setSpeed(carriageMotor.maxSpeed() * direction * -1.0f);
+    }
+  }
+
+  // Run carriage at constant speed
+  if (carriageMotor.runSpeed()) {
+    stepsMoved++;
+    // Update position based on direction
+    currentPositionMM += (carriageMotor.speed() > 0) ? 
+                         (1.0 / STEPS_PER_MM) : 
+                         (-1.0 / STEPS_PER_MM);
+
+    if (distance <= margin) {
+      // Stop carriage motor completely
+      carriageMotor.setSpeed(0);
+      carriageMotor.stop();
+      return true;
+    }
+  }
+
+  if (distance <= margin) {
+    // Stop carriage motor completely
+    carriageMotor.setSpeed(0);
+    carriageMotor.stop();
+    return true;
+  }
+
+  return false;
+}
+
+bool withinRange(float value, float target, float margin) {
+    return (value >= (target - margin)) && (value <= (target + margin));
+}
+
+float sign(float value) {
+  return float((value>0)-(value<0));
+}