This is a one day build from parts I already had.

Specs:
-Teensy LC Microcontroller
-MP1584EN DC/DC converters
-L293D H Bridge Chips
-DC Motor: JEI-1040012, OME-14230G/A, 3F466236
-Stepper Motor: Mitsumi M35SP-11NK LF, EM-509
-Both motors salvaged from broken printer which ran them at 24V. (printer was 6$ at goodwill)
-36v, 0.9a AC/DC converter unknown origin (these are 1$ at goodwill)
-PLA parts, cyanoacrylate glue (works well but causes white discoloration)
-Cat, 8lb, generic street variety, probably a knockoff. (couldn't find datasheet, seems to need a software update)

-The balls shown in this video don't work very well for this purpose. Get solid but light ones that don't flex.
-Definitely worth using off the shelf bearings instead of PLA bushings.

NOTE: OSEPP Motor Shield V1.0 not compatible with modern teensy's. This shield is functionally interchangeable with Adafruit motor shield V1.0 (also obsolete). Probably would've worked without trouble on an arduino Uno.