The final prototype circuit board is now finished, with a NodeMCU and two stepper drivers soldered directly onto the board. 

Also the first firmware is finished and I can start testing it out. The first attempts worked fine, but I need to tune up the stepper drivers to give some more torque. They can handle at least 1A but are only pulling around 0.2A right now.

Next it's time to get the android app together...