design a stand alone motion controller for an xy gantry gantry table

The project consist of designing a stand alone motion controller for an xy gantry positioning table that has 2 axes (X and Y) driven by 2 dc motors via Hbridges and quadrature encoders. The stand alone motion controller will allow for control of the machine without needing to recompile the arduino code, but using command (like gcode for cnc machines). It will include the following functions to control both axes: * Move to an (x,y) position * home the system * get position feedback *Cancel any action taken (for example I send a command to move to a certain (x,y) and while in motion would like to cancel that command and send a different one) * fail/ stop mode : the system will be able to keep track of any malfunction ( such as : motors fail to turn, carriage blocked and doesn't reach end travel, motor stalled ) and immediately stop any movement and wait for a reset command. *A reset command needs to be implemented to exit the fail/stop mode. * the code will be written to decelerate motor before reaching limit switches * the motion controller will allow for changes in setting