Completed the initial schematic for the base. I’m not completely sure this will even work as is. I have AC power from any wall outlet going into the PSU (likely a LCP300-24D5), and I use the 5V output to power the RPi and ESP board. I plan on using an I2C bus to communicate between the modules and the RPi, and UARC to communicate between the ESP and RPi, which I think I wired correctly? Then I have the 24V outputs from the PSU that I need to use, which will eventually be powering the motors. I need to add a switch between the PSU and receptacle so that you can turn the printer off and some XT30U connectors so the modules can get 24V power.