Cupcake v0/X Y Subsystem

v0 to v1 enhancements

Rotate steppers

We're going to rotate the steppers and belts on the X and Y stages. The new steppers are not as tall as they are wide, so this will give us additional Z space. The steppers will both now face upwards, and the belts will travel horizontally.

Consider idlers instead of bearings

Looking into sourcing idlers to match the size of the drive pulleys that can sit on the smooth part of a bolt shaft or have integrated bearings. Would allow us to keep the sides of the belt parallel, but isn't really necessary. This is cruft; I'll stick with skate bearings and plates.

Balance Y stage

Center the Y stage servo to reduce torque on the bearings.

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