JoachimF

You're right for the quadrature, I was thinking to turn the spindle by hand only in one way, it's tricky, but with a careful move and a little calculation, determine...

I'll test i2s correction tonight or tomorrow, i'll tell you if it's ok Thanks

Everything is ok, tested on the lathe with backlash compensation. Thanks

Here is two methods to use float in interrupt, use double then fpu is not used, or start the fpu manually. https://esp32.com/viewtopic.php?t=1292 I hope this help

Hello Juank, Have you tried normal steppers? I read some servos could be in speed precise or position precise. I have an EP32 on my lathe, I can test a...

The PP are here : https://cam.autodesk.com/hsmposts You can perhaps code a PP for GRBLHAL