ESP32 Axidraw PCB & Firmware

I need a complete electronics solution that can replace the original EBB board on an Axidraw-style writing machine. The job covers both hardware and software. Hardware scope • Design a compact, two-axis motor-control PCB built around an ESP32. • Integrate two stepper-motor drivers capable of smooth, quiet motion at plotting speeds. • Provide a reliable USB interface for host control and firmware updates. • Include all required power-management, end-stop, and pen-lifter circuitry so the board can drop straight into an existing Axidraw frame. • Deliver production-ready assets: schematic (PDF & source), PCB layout, Gerber/Drill files, BOM with part numbers, and a brief assembly guide. Firmware scope • Develop firmware that exposes Axidraw-compatible commands over USB—ideally mimicking the original EBB protocol so it works out of the box with Inkscape and existing plotter scripts. • Implement acceleration profiles, homing routines, and pen-up/pen-down sequencing. • Provide source code (PlatformIO / Arduino-ESP32 or ESP-IDF), well-commented, with build instructions. • Include a simple desktop test utility or example Python script that sends a demo plot to verify operation. Acceptance The board should drive two NEMA-17 steppers and a micro-servo smoothly, execute an SVG test file without missed steps, and enumerate as a USB device on Windows, macOS, and Linux. If you have prior experience with motion-control firmware or have built plotters/CNC controllers on ESP32, I’d love to see examples when you bid.