Mr Stabby

The shaft is made from stainless steel hex rod and is pinched between the stepper drive wheel and two guide wheels, the pinch wheel has a rubber sleeve to allow it to grip the shaft. The stepper is also on a pivot and a tension spring puts enough force to allow it to move however it it jamms it will either skip steps or slip on the shaft.

Finally the LDC, Speed Controller and Distance Sensor are all working together! I have added a new mode called Random, still needs some fine tuning but the shaft will move outwards a random distance, I was tempted to also add a random speed and velocity into the mix but may leave that for another time.