diff --git a/.gitignore b/.gitignore
index 81e5096f..40c50802 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,3 +5,5 @@ Thumbs.db
 embedded/node_modules
 embedded/dist
 *~
+.pio/
+.vscode/
\ No newline at end of file
diff --git a/Grbl_Esp32/Machines/3x_v3.h b/Grbl_Esp32/Machines/3x_v3.h
index c8c6fa37..5d8313fc 100644
--- a/Grbl_Esp32/Machines/3x_v3.h
+++ b/Grbl_Esp32/Machines/3x_v3.h
@@ -12,9 +12,9 @@
 #define Z_DIRECTION_PIN         GPIO_NUM_33
 
 #define LIMIT_MASK              B111
-#define X_AXIS_LIMIT_PIN        GPIO_NUM_2  // labeled X Limit
-#define Y_AXIS_LIMIT_PIN        GPIO_NUM_4  // labeled Y Limit
-#define Y_AXIS_LIMIT_PIN        GPIO_NUM_15 // labeled Z Limit
+#define X_LIMIT_PIN             GPIO_NUM_2  // labeled X Limit
+#define Y_LIMIT_PIN             GPIO_NUM_4  // labeled Y Limit
+#define Z_LIMIT_PIN             GPIO_NUM_15 // labeled Z Limit
 
 // OK to comment out to use pin for other features
 #define STEPPERS_DISABLE_PIN    GPIO_NUM_13
diff --git a/Grbl_Esp32/Machines/3x_v4.h b/Grbl_Esp32/Machines/3x_v4.h
index 642e85d3..8c8835e8 100644
--- a/Grbl_Esp32/Machines/3x_v4.h
+++ b/Grbl_Esp32/Machines/3x_v4.h
@@ -12,9 +12,9 @@
 #define Z_DIRECTION_PIN         GPIO_NUM_33
 
 #define LIMIT_MASK              B111
-#define X_AXIS_LIMIT_PIN        GPIO_NUM_17
-#define Y_AXIS_LIMIT_PIN        GPIO_NUM_4
-#define Z_AXIS_LIMIT_PIN        GPIO_NUM_16
+#define X_LIMIT_PIN             GPIO_NUM_17
+#define Y_LIMIT_PIN             GPIO_NUM_4
+#define Z_LIMIT_PIN             GPIO_NUM_16
 
 // OK to comment out to use pin for other features
 #define STEPPERS_DISABLE_PIN    GPIO_NUM_13
diff --git a/Grbl_Esp32/Machines/atari_1020.h b/Grbl_Esp32/Machines/atari_1020.h
index 2042573f..972ad5bd 100644
--- a/Grbl_Esp32/Machines/atari_1020.h
+++ b/Grbl_Esp32/Machines/atari_1020.h
@@ -25,6 +25,10 @@
 #define MACHINE_NAME "MACHINE_ATARI_1020"
 
 // ================== CPU MAP ======================
+#ifdef USE_RMT_STEPS
+        #undef USE_RMT_STEPS
+#endif
+
 #define USE_UNIPOLAR
 
 #define X_UNIPOLAR
@@ -69,7 +73,7 @@
 #endif
 
 #ifdef INVERT_CONTROL_PIN_MASK
-        #undef IGNORE_CONTROL_PINS
+        #undef INVERT_CONTROL_PIN_MASK
 #endif
 #define INVERT_CONTROL_PIN_MASK   B01110000
 
diff --git a/Grbl_Esp32/Machines/custom_machine_template.h b/Grbl_Esp32/Machines/custom_machine_template.h
index 57ee32e0..23cbb91a 100644
--- a/Grbl_Esp32/Machines/custom_machine_template.h
+++ b/Grbl_Esp32/Machines/custom_machine_template.h
@@ -42,16 +42,16 @@
 // for all the things that can go here
 
 // Assign CPU pins to machine functions, for example:
-// #define X_STEP_PIN              GPIO_NUM_12
-// #define X_DIRECTION_PIN         GPIO_NUM_26
-// #define X_AXIS_LIMIT_PIN        GPIO_NUM_2
+#define X_STEP_PIN              GPIO_NUM_12
+#define X_DIRECTION_PIN         GPIO_NUM_26
+#define X_LIMIT_PIN             GPIO_NUM_2
 
 // #define SPINDLE_PWM_PIN         GPIO_NUM_17
 
 // #define CONTROL_SAFETY_DOOR_PIN GPIO_NUM_35
 
 // Set the number of bits to the number of limit switches
-// #define LIMIT_MASK      	B111
+#define LIMIT_MASK      	B111
 
 // ============== Enable custom features =======================
 
diff --git a/Grbl_Esp32/Machines/test_drive.h b/Grbl_Esp32/Machines/test_drive.h
index 7bb6ebc3..e2813ac2 100644
--- a/Grbl_Esp32/Machines/test_drive.h
+++ b/Grbl_Esp32/Machines/test_drive.h
@@ -15,3 +15,7 @@
 #define MACHINE_NAME "MACHINE_DEFAULT - Demo Only No I/O!"
 
 #define LIMIT_MASK 0  // no limit pins
+
+#ifdef USE_RMT_STEPS
+#undef USE_RMT_STEPS  // Suppress unused variable warning
+#endif
diff --git a/Grbl_Esp32/config.h b/Grbl_Esp32/config.h
index 3e91fa8d..d5e0ca5d 100644
--- a/Grbl_Esp32/config.h
+++ b/Grbl_Esp32/config.h
@@ -41,6 +41,53 @@ Some features should not be changed. See notes below.
 
 // It is no longer necessary to edit this file to choose
 // a machine configuration; edit machine.h instead
+// machine.h is #included below, after some definitions
+// that the machine file might choose to undefine.
+
+// Define the homing cycle patterns with bitmasks. The homing cycle first performs a search mode
+// to quickly engage the limit switches, followed by a slower locate mode, and finished by a short
+// pull-off motion to disengage the limit switches. The following HOMING_CYCLE_x defines are executed
+// in order starting with suffix 0 and completes the homing routine for the specified-axes only. If
+// an axis is omitted from the defines, it will not home, nor will the system update its position.
+// Meaning that this allows for users with non-standard Cartesian machines, such as a lathe (x then z,
+// with no y), to configure the homing cycle behavior to their needs.
+// NOTE: The homing cycle is designed to allow sharing of limit pins, if the axes are not in the same
+// cycle, but this requires some pin settings changes in the machine definition file. For example, the default homing
+// cycle can share the Z limit pin with either X or Y limit pins, since they are on different cycles.
+// By sharing a pin, this frees up a precious IO pin for other purposes. In theory, all axes limit pins
+// may be reduced to one pin, if all axes are homed with separate cycles, or vice versa, all three axes
+// on separate pin, but homed in one cycle. Also, it should be noted that the function of hard limits
+// will not be affected by pin sharing.
+
+// NOTE: Defaults are set for a traditional 3-axis CNC machine. Z-axis first to clear, followed by X & Y.
+// These homing cycle definitions precede the machine.h file so that the machine
+// definition can undefine them if necessary.
+#define HOMING_CYCLE_0 (1<<Z_AXIS)	// TYPICALLY REQUIRED: First move Z to clear workspace.
+#define HOMING_CYCLE_1 (1<<X_AXIS)
+#define HOMING_CYCLE_2 (1<<Y_AXIS)
+
+// NOTE: The following is for for homing X and Y at the same time
+// #define HOMING_CYCLE_0 (1<<Z_AXIS) // first home z by itself
+// #define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS))  // Homes both X-Y in one cycle. NOT COMPATIBLE WITH COREXY!!!
+
+// Inverts pin logic of the control command pins based on a mask. This essentially means you can use
+// normally-closed switches on the specified pins, rather than the default normally-open switches.
+// The mask order is Cycle Start | Feed Hold | Reset | Safety Door
+// For example B1101 will invert the function of the Reset pin.
+#define INVERT_CONTROL_PIN_MASK   B1111
+
+// This allows control pins to be ignored.
+// Since these are typically used on the pins that don't have pullups, they will float and cause
+// problems if not externally pulled up. Ignoring will always return not activated when read.
+#define IGNORE_CONTROL_PINS
+
+#define ENABLE_CONTROL_SW_DEBOUNCE // Default disabled. Uncomment to enable.
+#define CONTROL_SW_DEBOUNCE_PERIOD 32 // in milliseconds default 32 microseconds
+
+#define USE_RMT_STEPS
+
+// Include the file that loads the machine-specific config file.
+// machine.h must be edited to choose the desired file.
 #include "machine.h"
 
 // machine_common.h contains settings that do not change
@@ -167,30 +214,6 @@ Some features should not be changed. See notes below.
 // mainly a safety feature to remind the user to home, since position is unknown to Grbl.
 #define HOMING_INIT_LOCK // Comment to disable
 
-// Define the homing cycle patterns with bitmasks. The homing cycle first performs a search mode
-// to quickly engage the limit switches, followed by a slower locate mode, and finished by a short
-// pull-off motion to disengage the limit switches. The following HOMING_CYCLE_x defines are executed
-// in order starting with suffix 0 and completes the homing routine for the specified-axes only. If
-// an axis is omitted from the defines, it will not home, nor will the system update its position.
-// Meaning that this allows for users with non-standard Cartesian machines, such as a lathe (x then z,
-// with no y), to configure the homing cycle behavior to their needs.
-// NOTE: The homing cycle is designed to allow sharing of limit pins, if the axes are not in the same
-// cycle, but this requires some pin settings changes in the machine definition file. For example, the default homing
-// cycle can share the Z limit pin with either X or Y limit pins, since they are on different cycles.
-// By sharing a pin, this frees up a precious IO pin for other purposes. In theory, all axes limit pins
-// may be reduced to one pin, if all axes are homed with separate cycles, or vice versa, all three axes
-// on separate pin, but homed in one cycle. Also, it should be noted that the function of hard limits
-// will not be affected by pin sharing.
-
-// NOTE: Defaults are set for a traditional 3-axis CNC machine. Z-axis first to clear, followed by X & Y.  
-#define HOMING_CYCLE_0 (1<<Z_AXIS)	// TYPICALLY REQUIRED: First move Z to clear workspace.
-#define HOMING_CYCLE_1 (1<<X_AXIS)  
-#define HOMING_CYCLE_2 (1<<Y_AXIS)
-
-// NOTE: The following is for for homingg X and Y at the same time
-// #define HOMING_CYCLE_0 (1<<Z_AXIS) // first home z by itself
-// #define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS))  // Homes both X-Y in one cycle. NOT COMPATIBLE WITH COREXY!!!
-
 // Number of homing cycles performed after when the machine initially jogs to limit switches.
 // This help in preventing overshoot and should improve repeatability. This value should be one or
 // greater.
@@ -286,21 +309,6 @@ Some features should not be changed. See notes below.
 // Enable using a solenoid for the Z axis on a pen type machine
 // #define USE_PEN_SOLENOID
 
-// Inverts pin logic of the control command pins based on a mask. This essentially means you can use
-// normally-closed switches on the specified pins, rather than the default normally-open switches.
-// The mask order is Cycle Start | Feed Hold | Reset | Safety Door
-// For example B1101 will invert the function of the Reset pin.
-#define INVERT_CONTROL_PIN_MASK   B1111
-
-// This allows control pins to be ignored.
-// Since these are typically used on the pins that don't have pullups, they will float and cause
-// problems if not externally pulled up. Ignoring will always return not activated when read.
-#define IGNORE_CONTROL_PINS
-
-#define ENABLE_CONTROL_SW_DEBOUNCE // Default disabled. Uncomment to enable.
-#define CONTROL_SW_DEBOUNCE_PERIOD 32 // in milliseconds default 32 microseconds
-
-
 // Inverts select limit pin states based on the following mask. This effects all limit pin functions,
 // such as hard limits and homing. However, this is different from overall invert limits setting.
 // This build option will invert only the limit pins defined here, and then the invert limits setting
diff --git a/Grbl_Esp32/defaults.h b/Grbl_Esp32/defaults.h
index 706e3852..c40f8fce 100644
--- a/Grbl_Esp32/defaults.h
+++ b/Grbl_Esp32/defaults.h
@@ -261,7 +261,7 @@
 #ifndef  DEFAULT_Z_MAX_TRAVEL
 	#define DEFAULT_Z_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
 #endif
-#ifndef  DEFAULT_A_TRAVEL
+#ifndef  DEFAULT_A_MAX_TRAVEL
 	#define DEFAULT_A_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
 #endif
 #ifndef  DEFAULT_B_MAX_TRAVEL
@@ -358,4 +358,4 @@
 
 
 
-#endif
\ No newline at end of file
+#endif
diff --git a/Grbl_Esp32/grbl_trinamic.cpp b/Grbl_Esp32/grbl_trinamic.cpp
index 00d09217..d1f8c246 100644
--- a/Grbl_Esp32/grbl_trinamic.cpp
+++ b/Grbl_Esp32/grbl_trinamic.cpp
@@ -23,13 +23,14 @@
 
 #ifdef USE_TRINAMIC	
 /*
-	The drivers can use SPI daisy chaining to allow the use of only (1) CS_PIN.
-	The PCB must be designed for this, with SDO pins being coonect to the 
-	next driver's SDI pin. The final SDO goes back to the controller.
+	The drivers can use SPI daisy chaining to allow the use of a single CS_PIN.
+	The PCB must be designed for this, with SDO pins connected to the 
+	next driver's SDI pin and the final SDO going back to the CPU.
 	
-	This is setup in the machine definition file (Machines/*.h).
-	add #define TRINAMIC_DAISY_CHAIN to your map
-	Make every axis CS_PIN definition be for the same pin like this...
+	To set this up, #define TRINAMIC_DAISY_CHAIN in your machine definition
+	file (Machines/something.h).
+
+	Set the CS_PIN definition for every axis to the same pin, like this...
 	#define X_CS_PIN GPIO_NUM_17
 	#define Y_CS_PIN GPIO_NUM_17
 	...etc.
diff --git a/Grbl_Esp32/machine.h b/Grbl_Esp32/machine.h
index f4a56517..a18d2167 100644
--- a/Grbl_Esp32/machine.h
+++ b/Grbl_Esp32/machine.h
@@ -11,8 +11,7 @@
 
 // For actual use, select the appropriate board from Machines/,
 // or create your own, for example:
-// #include "Machines/3x_v4.h"
-#include "Machines/spi_daisy_4x.h"
+#include "Machines/3x_v4.h"
 
 // Some configurations use two files, the first assigning pins
 // and the second providing additional customization, for example:
@@ -31,4 +30,4 @@
 
 // Paste default settings override definitions here.
 
-#endif _machine_h
+#endif // _machine_h
diff --git a/Grbl_Esp32/machine_common.h b/Grbl_Esp32/machine_common.h
index f35c3a69..2dd4df64 100644
--- a/Grbl_Esp32/machine_common.h
+++ b/Grbl_Esp32/machine_common.h
@@ -1,8 +1,6 @@
 #ifndef _machine_common_h
 #define _machine_common_h
 
-#define USE_RMT_STEPS
-
 #ifndef SPINDLE_PWM_BIT_PRECISION
 #define SPINDLE_PWM_BIT_PRECISION 8
 #endif
diff --git a/Grbl_Esp32/solenoid_pen.h b/Grbl_Esp32/solenoid_pen.h
index e6495a35..57b0b014 100644
--- a/Grbl_Esp32/solenoid_pen.h
+++ b/Grbl_Esp32/solenoid_pen.h
@@ -32,15 +32,33 @@
 
 */
 
+#ifndef SOLENOID_PWM_FREQ
 #define SOLENOID_PWM_FREQ 5000
+#endif
+
+#ifndef SOLENOID_PWM_RES_BITS
 #define SOLENOID_PWM_RES_BITS 8
+#endif
 
+#ifndef SOLENOID_TURNON_DELAY
 #define SOLENOID_TURNON_DELAY (SOLENOID_TIMER_INT_FREQ/2)
-#define SOLENOID_PULSE_LEN_UP 255
-#define SOLENOID_HOLD_DELAY (SOLENOID_TIMER_INT_FREQ/2) // in task counts...after this delay power will change to hold level
-#define SOLENOID_PULSE_LEN_HOLD 80 // solenoid hold level ... typically a lower value to prevent overheating
+#endif
 
+#ifndef SOLENOID_PULSE_LEN_UP
+#define SOLENOID_PULSE_LEN_UP 255
+#endif
+
+#ifndef SOLENOID_HOLD_DELAY
+#define SOLENOID_HOLD_DELAY (SOLENOID_TIMER_INT_FREQ/2) // in task counts...after this delay power will change to hold level
+#endif
+
+#ifndef SOLENOID_PULSE_LEN_HOLD
+#define SOLENOID_PULSE_LEN_HOLD 80 // solenoid hold level ... typically a lower value to prevent overheating
+#endif
+
+#ifndef SOLENOID_TIMER_INT_FREQ
 #define SOLENOID_TIMER_INT_FREQ 50
+#endif
 
 #ifndef solenoid_h
 #define solenoid_h
@@ -50,4 +68,4 @@ void solenoid_disable();
 void solenoidSyncTask(void *pvParameters);
 void calc_solenoid(float penZ);
 
-#endif
\ No newline at end of file
+#endif
diff --git a/platformio.ini b/platformio.ini
index dbbbc1db..2ec4ff08 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -21,6 +21,7 @@ lib_deps_builtin =
 	WiFiClientSecure
 
 [env:nodemcu-32s]
+lib_deps = TMCStepper
 platform = espressif32
 board = nodemcu-32s
 framework = arduino