Add coordinated homing for both motors with toggle button

- Add state machine for coordinated movement (REV/FWD toggle)
- Each motor stops independently on stall detection
- Add HOME BOTH button in web UI with state-based styling
- Add /homing endpoint for programmatic control
- Update /status endpoint with coordinated state info
- Create homing.h header for function declarations

src/main.cpp

@@ -4,16 +4,116 @@
 #include "motor.h"
 #include "webserver.h"
 
+// Coordinated movement state
+enum CoordinatedState {
+    COORD_IDLE = 0,
+    COORD_MOVING_REV = 1,   // Homing - moving to reverse end
+    COORD_MOVING_FWD = 2    // Moving to forward end
+};
+
+// Global coordinated movement state
+static CoordinatedState coordState = COORD_IDLE;
+static bool motor1Done = false;
+static bool motor2Done = false;
+static int coordSpeed = 50;  // Default coordinated movement speed
+
+// Get current coordinated movement state
+int getCoordinatedState() {
+    return (int)coordState;
+}
+
+// Check if coordinated movement is complete
+bool isCoordinatedMovementDone() {
+    return motor1Done && motor2Done;
+}
+
 // Called when motor 1 stall is detected
 void onMotor1Stall() {
     Serial.println("Motor1 stall callback triggered - stopping motor!");
     motor1.stop();
+    
+    // Mark motor1 as done if in coordinated movement
+    if (coordState != COORD_IDLE) {
+        motor1Done = true;
+        Serial.println("Motor1 reached end position (stall)");
+        
+        if (isCoordinatedMovementDone()) {
+            Serial.println("Coordinated movement complete - both motors at end position");
+        }
+    }
 }
 
 // Called when motor 2 stall is detected
 void onMotor2Stall() {
     Serial.println("Motor2 stall callback triggered - stopping motor!");
     motor2.stop();
+    
+    // Mark motor2 as done if in coordinated movement
+    if (coordState != COORD_IDLE) {
+        motor2Done = true;
+        Serial.println("Motor2 reached end position (stall)");
+        
+        if (isCoordinatedMovementDone()) {
+            Serial.println("Coordinated movement complete - both motors at end position");
+        }
+    }
+}
+
+// Start coordinated movement in specified direction
+// dir: -1 = reverse (homing), 1 = forward
+void startCoordinatedMovement(int dir, int speed) {
+    coordSpeed = speed;
+    motor1Done = false;
+    motor2Done = false;
+    
+    if (dir < 0) {
+        coordState = COORD_MOVING_REV;
+        Serial.printf("Starting coordinated REVERSE movement at %d%% speed\n", speed);
+    } else {
+        coordState = COORD_MOVING_FWD;
+        Serial.printf("Starting coordinated FORWARD movement at %d%% speed\n", speed);
+    }
+    
+    // Start both motors
+    motor1.setSpeed(speed);
+    motor1.setDirection(dir);
+    
+    motor2.setSpeed(speed);
+    motor2.setDirection(dir);
+}
+
+// Toggle coordinated movement (for button press)
+// Returns: new state (0=idle, 1=moving_rev, 2=moving_fwd)
+int toggleCoordinatedMovement(int speed) {
+    if (coordState == COORD_IDLE) {
+        // First press: start moving reverse (homing)
+        startCoordinatedMovement(-1, speed);
+        return COORD_MOVING_REV;
+    } else if (coordState == COORD_MOVING_REV) {
+        // If currently moving rev or completed rev, switch to forward
+        // Stop any still-moving motors first
+        if (!motor1Done) motor1.stop();
+        if (!motor2Done) motor2.stop();
+        startCoordinatedMovement(1, speed);
+        return COORD_MOVING_FWD;
+    } else {
+        // Currently moving fwd or completed fwd, switch to reverse
+        // Stop any still-moving motors first
+        if (!motor1Done) motor1.stop();
+        if (!motor2Done) motor2.stop();
+        startCoordinatedMovement(-1, speed);
+        return COORD_MOVING_REV;
+    }
+}
+
+// Stop coordinated movement
+void stopCoordinatedMovement() {
+    coordState = COORD_IDLE;
+    motor1Done = false;
+    motor2Done = false;
+    motor1.stop();
+    motor2.stop();
+    Serial.println("Coordinated movement stopped");
 }
 
 void setupWiFi() {