delete homing. Have to redo

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+# WijiBoard Wiring Diagram
+
+This document outlines the hardware connections for the WijiBoard. 
+
+## Hardware Components
+- **Microcontroller**: Waveshare ESP32-S3-Zero
+- **Motors**: 2× 28BYJ-48 (5V Stepper Motors)
+- **Motor Drivers**: 2× ULN2003 Driver Boards
+- **Power System**: 
+  - 4S LiPo Battery
+  - XH-M609 Battery Low-Voltage Disconnect Module
+  - 2× Buck Regulators (step-down converters tuned to 5V)
+
+---
+
+## Power Connections
+The system is powered by a 4S LiPo battery. To protect the battery from over-discharge, it is connected to an **XH-M609** module. The output of the XH-M609 is split into two separate **Buck Regulators**, both tuned to output 5V.
+
+1. **Buck Regulator 1 (MCU Power)**: Dedicated to powering the ESP32-S3-Zero.
+2. **Buck Regulator 2 (Motor Power)**: Dedicated to powering both ULN2003 driver boards to prevent voltage drops or electrical noise from affecting the MCU.
+
+> [!IMPORTANT]
+> **Common Ground**: You MUST connect the Ground (GND) from the ESP32 to the Ground (GND) of the ULN2003 drivers. Even though they have separate 5V power supplies, they need a common ground reference for the GPIO logic signals to work correctly.
+
+| Component | Connection | Destination |
+| :--- | :--- | :--- |
+| **4S LiPo** | `BAT+` / `BAT-` | XH-M609 `VIN+` / `VIN-` |
+| **XH-M609** | `VOUT+` / `VOUT-` | Split to **IN+** and **IN-** on both Buck Regulators |
+| **Buck 1 (MCU)** | `OUT+ (5V)` | ESP32-S3-Zero `5V` (used as power input) |
+| **Buck 1 (MCU)** | `OUT- (GND)` | ESP32-S3-Zero `GND` |
+| **Buck 2 (Motors)**| `OUT+ (5V)` | ULN2003 (M1) `+ / 5V` and ULN2003 (M2) `+ / 5V` |
+| **Buck 2 (Motors)**| `OUT- (GND)` | ULN2003 (M1) `- / GND` and ULN2003 (M2) `- / GND` |
+| **ESP32-S3-Zero** | `GND` | Tie to the motor ground network (Common Ground) |
+
+---
+
+## Motor 1 (Right Motor) Logic
+**Physical Location**: Right side (pivot at +12.9mm)
+
+| ESP32-S3-Zero Pin | ULN2003 (Motor 1) Pin |
+| :--- | :--- |
+| **GPIO 4** | `IN1` |
+| **GPIO 5** | `IN2` |
+| **GPIO 6** | `IN3` |
+| **GPIO 7** | `IN4` |
+
+---
+
+## Motor 2 (Left Motor) Logic
+**Physical Location**: Left side (pivot at -12.9mm)
+
+| ESP32-S3-Zero Pin | ULN2003 (Motor 2) Pin |
+| :--- | :--- |
+| **GPIO 8** | `IN1` |
+| **GPIO 9** | `IN2` |
+| **GPIO 10** | `IN3` |
+| **GPIO 11** | `IN4` |
+
+---
+
+## Stepper to Driver Connections
+Simply plug the white 5-pin JST connectors from the 28BYJ-48 motors into the corresponding white sockets on their respective ULN2003 driver boards. The connector is keyed and only fits one way.
+
+## Schematic Overview
+
+```mermaid
+flowchart LR
+    subgraph Power Delivery
+        BATT[4S LiPo Battery] -->|14.8V| XHM609[XH-M609 Protector]
+        XHM609 -->|14.8V| BUCK1[Buck Regulator 1]
+        XHM609 -->|14.8V| BUCK2[Buck Regulator 2]
+    end
+
+    BUCK1 -->|5V Power| ESP[ESP32-S3-Zero]
+    BUCK2 -->|5V Power| M1_Driver[ULN2003 M1]
+    BUCK2 -->|5V Power| M2_Driver[ULN2003 M2]
+    
+    %% Common Ground
+    ESP -. Common Ground .- M1_Driver
+    ESP -. Common Ground .- M2_Driver
+    
+    %% Logic Signals
+    ESP -- Pins 4,5,6,7 --> M1_Driver
+    ESP -- Pins 8,9,10,11 --> M2_Driver
+    
+    %% Motors
+    M1_Driver == 5-wire cable ==> M1[Motor 1 - Right]
+    M2_Driver == 5-wire cable ==> M2[Motor 2 - Left]
+```