bdring

I have trouble with SoftwareSerial.h and ESP32 as well. I don't think that is included in the [Arduino core for ESP32](https://github.com/espressif/arduino-esp32). I was able to get rid of the error...

My Trinamic controllers have that pin pulled to ground. You could check it. I don't think the 5160 would work at all without it.

This post has some interesting similarities to the problem. https://github.com/KevinOConnor/klipper/issues/2516 We will try some chopper changes to see if it helps.

You could build it with a different isolated power supply and led resistors to use 12v NPN sensors.

How far off is it? Generally you can't expect accuracy if you disable the motors and do not rehome.

BTW. You have some unusually high config values that are being constrained.

It is probably OK if you stay under the max step rate. You are below that. We could raise the speed limit. BTW: I usually use radians for rotational axes....

I think you just need to optimize the range, homing mpos homing direction. https://github.com/bdring/Grbl_Esp32/wiki/Machine-Space-and-Homing https://github.com/bdring/Grbl_Esp32/wiki/Servo-Axis-Feature

I updated mine and used it within the last week. Have you read this page? https://github.com/bdring/Grbl_Esp32/wiki/Servo-Axis-Feature Is the Z not moving at all? Paste your boot messages here. I can...

Send $Z and paste the response here.