Arduino coding partial project

I need someone who can code an arduino using stepper motors for 2D scara arm movement and then tell me what values to adjust to change how fast the motors spin. Also incorporate some kind of limit switch signal so the motors know when they are either zeroed out or maxed out and which values to adjust to tell the motors how many steps it's range is. For example if there was no gearing then the motors would turn almost a full quarter rotation to extend the arms or bring them back to zero. Budget for this portion is $30. There are other portions of the project that we can discuss as well for an additional cost.