diff --git a/Grbl_Esp32/src/Machines/3axis_v3.h b/Grbl_Esp32/src/Machines/3axis_v3.h
deleted file mode 100644
index 7ed13584..00000000
--- a/Grbl_Esp32/src/Machines/3axis_v3.h
+++ /dev/null
@@ -1,57 +0,0 @@
-#pragma once
-// clang-format off
-
-/*
- 3axis_v3.h
- Part of Grbl_ESP32
-
- Pin assignments for the ESP32 Development Controller, v3.5.
- https://github.com/bdring/Grbl_ESP32_Development_Controller
- https://www.tindie.com/products/33366583/grbl_esp32-cnc-development-board-v35/
-
- 2018 - Bart Dring
- 2020 - Mitch Bradley
-
- Grbl_ESP32 is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- Grbl is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with Grbl_ESP32. If not, see .
-*/
-
-#define MACHINE_NAME "ESP32_V3.5"
-
-#define X_STEP_PIN GPIO_NUM_12
-#define X_DIRECTION_PIN GPIO_NUM_26
-#define Y_STEP_PIN GPIO_NUM_14
-#define Y_DIRECTION_PIN GPIO_NUM_25
-#define Z_STEP_PIN GPIO_NUM_27
-#define Z_DIRECTION_PIN GPIO_NUM_33
-
-#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
-
-#define SPINDLE_TYPE SpindleType::PWM
-#define SPINDLE_OUTPUT_PIN GPIO_NUM_17 // labeled SpinPWM
-
-#define SPINDLE_ENABLE_PIN GPIO_NUM_22 // labeled SpinEnbl
-
-#define COOLANT_MIST_PIN GPIO_NUM_21 // labeled Mist
-#define COOLANT_FLOOD_PIN GPIO_NUM_16 // labeled Flood
-#define PROBE_PIN GPIO_NUM_32 // labeled Probe
-
-#define CONTROL_SAFETY_DOOR_PIN GPIO_NUM_35 // labeled Door, needs external pullup
-#define CONTROL_RESET_PIN GPIO_NUM_34 // labeled Reset, needs external pullup
-#define CONTROL_FEED_HOLD_PIN GPIO_NUM_36 // labeled Hold, needs external pullup
-#define CONTROL_CYCLE_START_PIN GPIO_NUM_39 // labeled Start, needs external pullup
diff --git a/Grbl_Esp32/src/Machines/3axis_xyx.h b/Grbl_Esp32/src/Machines/3axis_xyx.h
deleted file mode 100644
index f7b9bda9..00000000
--- a/Grbl_Esp32/src/Machines/3axis_xyx.h
+++ /dev/null
@@ -1,59 +0,0 @@
-#pragma once
-// clang-format off
-
-/*
- 3axis_xyx.h
- Part of Grbl_ESP32
-
- Pin assignments for the ESP32 Development Controller
- used to drive a dual motor gantry where the drivers
- labeled X, Y and Z drive the machine axes X, Y and X.
- https://github.com/bdring/Grbl_ESP32_Development_Controller
- https://www.tindie.com/products/33366583/grbl_esp32-cnc-development-board-v35/
-
- 2020 - Mitch Bradley
-
- Grbl_ESP32 is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- Grbl is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with Grbl_ESP32. If not, see .
-*/
-
-#define MACHINE_NAME "ESP32_V4_XYX"
-#define X_STEP_PIN GPIO_NUM_26 /* labeled Y */
-#define X_DIRECTION_PIN GPIO_NUM_15 /* labeled Y */
-#define Y_STEP_PIN GPIO_NUM_12 /* labeled X */
-#define Y_DIRECTION_PIN GPIO_NUM_14 /* labeled X */
-#define Y2_STEP_PIN GPIO_NUM_27 /* labeled Z */
-#define Y2_DIRECTION_PIN GPIO_NUM_33 /* labeled Z */
-
-#define SPINDLE_TYPE SpindleType::PWM
-#define SPINDLE_OUTPUT_PIN GPIO_NUM_2
-#define SPINDLE_ENABLE_PIN GPIO_NUM_22
-
-#define X_LIMIT_PIN GPIO_NUM_17
-#define Y_LIMIT_PIN GPIO_NUM_4
-// #define Z_LIMIT_PIN GPIO_NUM_16
-
-#define STEPPERS_DISABLE_PIN GPIO_NUM_13
-
-#define COOLANT_MIST_PIN GPIO_NUM_21
-#define COOLANT_FLOOD_PIN GPIO_NUM_25
-
-
-
-// see versions for X and Z
-#define PROBE_PIN GPIO_NUM_32
-
-#define CONTROL_SAFETY_DOOR_PIN GPIO_NUM_35 // needs external pullup
-#define CONTROL_RESET_PIN GPIO_NUM_34 // needs external pullup
-#define CONTROL_FEED_HOLD_PIN GPIO_NUM_36 // needs external pullup
-#define CONTROL_CYCLE_START_PIN GPIO_NUM_39 // needs external pullup
diff --git a/Grbl_Esp32/src/Machines/6_pack_Lowrider_stepstick_v1.h b/Grbl_Esp32/src/Machines/6_pack_Lowrider_stepstick_v1.h
index 9e935607..8131f6d8 100644
--- a/Grbl_Esp32/src/Machines/6_pack_Lowrider_stepstick_v1.h
+++ b/Grbl_Esp32/src/Machines/6_pack_Lowrider_stepstick_v1.h
@@ -39,37 +39,35 @@
#define I2S_OUT_WS GPIO_NUM_17
#define I2S_OUT_DATA GPIO_NUM_21
-#define X_STEPPER_MS3 I2SO(3) // Labeled X_CS
-#define Y_STEPPER_MS3 I2SO(6) // Y_CS
-#define Z_STEPPER_MS3 I2SO(11) // Z_CS
-#define X2_STEPPER_MS3 I2SO(14) // A_CS
-#define Y2_STEPPER_MS3 I2SO(19) // B_CS
-
// Motor Socket #1
#define X_DISABLE_PIN I2SO(0)
#define X_DIRECTION_PIN I2SO(1)
#define X_STEP_PIN I2SO(2)
+#define X_STEPPER_MS3 I2SO(3)
// Motor Socket #2
#define Y_DIRECTION_PIN I2SO(4)
#define Y_STEP_PIN I2SO(5)
+#define Y_STEPPER_MS3 I2SO(6)
#define Y_DISABLE_PIN I2SO(7)
// Motor Socket #3
#define Y2_DISABLE_PIN I2SO(8)
#define Y2_DIRECTION_PIN I2SO(9)
#define Y2_STEP_PIN I2SO(10)
+#define Y2_STEPPER_MS3 I2SO(11)
// Motor Socket #4
#define Z_DIRECTION_PIN I2SO(12)
#define Z_STEP_PIN I2SO(13)
+#define Z_STEPPER_MS3 I2SO(14)
#define Z_DISABLE_PIN I2SO(15)
// Motor Socket #5
#define Z2_DISABLE_PIN I2SO(16)
#define Z2_DIRECTION_PIN I2SO(17)
#define Z2_STEP_PIN I2SO(18)
-
+#define Z2_STEPPER_MS3 I2SO(19)
/*
Socket I/O reference
@@ -112,8 +110,8 @@ Socket #5
// https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
#define X_LIMIT_PIN GPIO_NUM_33
#define Y_LIMIT_PIN GPIO_NUM_32
-#define Y2_LIMIT_PIN GPIO_NUM_35
-#define Z_LIMIT_PIN GPIO_NUM_34
+#define Y2_LIMIT_PIN GPIO_NUM_35
+#define Z_LIMIT_PIN GPIO_NUM_34
// 4x Input Module in Socket #2
// https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
diff --git a/Grbl_Esp32/src/Machines/6_pack_MPCNC_stepstick_v1.h b/Grbl_Esp32/src/Machines/6_pack_MPCNC_stepstick_v1.h
index 034dade2..5d3ca518 100644
--- a/Grbl_Esp32/src/Machines/6_pack_MPCNC_stepstick_v1.h
+++ b/Grbl_Esp32/src/Machines/6_pack_MPCNC_stepstick_v1.h
@@ -39,36 +39,35 @@
#define I2S_OUT_WS GPIO_NUM_17
#define I2S_OUT_DATA GPIO_NUM_21
-#define X_STEPPER_MS3 I2SO(3) // Labeled X_CS
-#define Y_STEPPER_MS3 I2SO(6) // Y_CS
-#define Z_STEPPER_MS3 I2SO(11) // Z_CS
-#define X2_STEPPER_MS3 I2SO(14) // A_CS
-#define Y2_STEPPER_MS3 I2SO(19) // B_CS
-
// Motor Socket #1
#define X_DISABLE_PIN I2SO(0)
#define X_DIRECTION_PIN I2SO(1)
#define X_STEP_PIN I2SO(2)
+#define X_STEPPER_MS3 I2SO(3)
// Motor Socket #2
#define Y_DIRECTION_PIN I2SO(4)
#define Y_STEP_PIN I2SO(5)
+#define Y_STEPPER_MS3 I2SO(6)
#define Y_DISABLE_PIN I2SO(7)
// Motor Socket #3
#define Z_DISABLE_PIN I2SO(8)
#define Z_DIRECTION_PIN I2SO(9)
#define Z_STEP_PIN I2SO(10)
+#define Z_STEPPER_MS3 I2SO(11)
// Motor Socket #4
#define X2_DIRECTION_PIN I2SO(12)
#define X2_STEP_PIN I2SO(13)
+#define X2_STEPPER_MS3 I2SO(14)
#define X2_DISABLE_PIN I2SO(15)
// Motor Socket #5
#define Y2_DISABLE_PIN I2SO(16)
#define Y2_DIRECTION_PIN I2SO(17)
#define Y2_STEP_PIN I2SO(18)
+#define Y2_STEPPER_MS3 I2SO(19)
/*
diff --git a/Grbl_Esp32/src/Machines/6_pack_stepstick_XYZ_v1.h b/Grbl_Esp32/src/Machines/6_pack_stepstick_XYZ_v1.h
index a258d32f..b86c0c26 100644
--- a/Grbl_Esp32/src/Machines/6_pack_stepstick_XYZ_v1.h
+++ b/Grbl_Esp32/src/Machines/6_pack_stepstick_XYZ_v1.h
@@ -41,24 +41,24 @@
#define I2S_OUT_WS GPIO_NUM_17
#define I2S_OUT_DATA GPIO_NUM_21
-#define X_STEPPER_MS3 I2SO(3) // X_CS
-#define Y_STEPPER_MS3 I2SO(6) // Y_CS
-#define Z_STEPPER_MS3 I2SO(11) // Z_CS
// Motor Socket #1
#define X_DISABLE_PIN I2SO(0)
#define X_DIRECTION_PIN I2SO(1)
#define X_STEP_PIN I2SO(2)
+#define X_STEPPER_MS3 I2SO(3)
// Motor Socket #2
#define Y_DIRECTION_PIN I2SO(4)
#define Y_STEP_PIN I2SO(5)
+#define Y_STEPPER_MS3 I2SO(6)
#define Y_DISABLE_PIN I2SO(7)
// Motor Socket #3
#define Z_DISABLE_PIN I2SO(8)
#define Z_DIRECTION_PIN I2SO(9)
#define Z_STEP_PIN I2SO(10)
+#define Z_STEPPER_MS3 I2SO(11)
/*
Socket I/O reference
diff --git a/Grbl_Esp32/src/Machines/6_pack_stepstick_v1.h b/Grbl_Esp32/src/Machines/6_pack_stepstick_v1.h
index caf673be..084136b0 100644
--- a/Grbl_Esp32/src/Machines/6_pack_stepstick_v1.h
+++ b/Grbl_Esp32/src/Machines/6_pack_stepstick_v1.h
@@ -40,41 +40,40 @@
#define I2S_OUT_DATA GPIO_NUM_21
-#define X_STEPPER_MS3 I2SO(3) // X_CS
-#define Y_STEPPER_MS3 I2SO(6) // Y_CS
-#define Z_STEPPER_MS3 I2SO(11) // Z_CS
-#define A_STEPPER_MS3 I2SO(14) // A_CS
-#define B_STEPPER_MS3 I2SO(19) // B_CS
-#define C_STEPPER_MS3 I2SO(22) // C_CS
-
// Motor Socket #1
#define X_DISABLE_PIN I2SO(0)
#define X_DIRECTION_PIN I2SO(1)
#define X_STEP_PIN I2SO(2)
+#define X_STEPPER_MS3 I2SO(3)
// Motor Socket #2
#define Y_DIRECTION_PIN I2SO(4)
#define Y_STEP_PIN I2SO(5)
+#define Y_STEPPER_MS3 I2SO(6)
#define Y_DISABLE_PIN I2SO(7)
// Motor Socket #3
#define Z_DISABLE_PIN I2SO(8)
#define Z_DIRECTION_PIN I2SO(9)
#define Z_STEP_PIN I2SO(10)
+#define Z_STEPPER_MS3 I2SO(11)
// Motor Socket #4
#define A_DIRECTION_PIN I2SO(12)
#define A_STEP_PIN I2SO(13)
+#define A_STEPPER_MS3 I2SO(14)
#define A_DISABLE_PIN I2SO(15)
// Motor Socket #5
#define B_DISABLE_PIN I2SO(16)
#define B_DIRECTION_PIN I2SO(17)
#define B_STEP_PIN I2SO(18)
+#define B_STEPPER_MS3 I2SO(19)
// Motor Socket #5
#define C_DIRECTION_PIN I2SO(20)
#define C_STEP_PIN I2SO(21)
+#define C_STEPPER_MS3 I2SO(22)
#define C_DISABLE_PIN I2SO(23)
diff --git a/Grbl_Esp32/src/Machines/espduino.h b/Grbl_Esp32/src/Machines/espduino.h
deleted file mode 100644
index 7bc6b8a4..00000000
--- a/Grbl_Esp32/src/Machines/espduino.h
+++ /dev/null
@@ -1,61 +0,0 @@
-#pragma once
-// clang-format off
-
-/*
- espduino.h
- Part of Grbl_ESP32
-
- Pin assignments for ESPDUINO-32 Boards and Protoneer V3 boards
- Note: Probe pin is mapped, but will require a 10k external pullup to 3.3V to work.
-
- Rebooting...See this issue https://github.com/bdring/Grbl_Esp32/issues/314
- !!!! Experimental Untested !!!!!
-
- 2019 - Bart Dring
- 2020 - Mitch Bradley
-
- Grbl_ESP32 is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- Grbl is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with Grbl_ESP32. If not, see .
-*/
-
-#define MACHINE_NAME "ESPDUINO_32"
-
-#define X_STEP_PIN GPIO_NUM_26
-#define X_DIRECTION_PIN GPIO_NUM_16
-
-#define Y_STEP_PIN GPIO_NUM_25
-#define Y_DIRECTION_PIN GPIO_NUM_27
-
-#define Z_STEP_PIN GPIO_NUM_17
-#define Z_DIRECTION_PIN GPIO_NUM_14
-
-// OK to comment out to use pin for other features
-#define STEPPERS_DISABLE_PIN GPIO_NUM_12
-
-#define SPINDLE_TYPE SpindleType::PWM
-#define SPINDLE_OUTPUT_PIN GPIO_NUM_19
-
-#define SPINDLE_DIR_PIN GPIO_NUM_18
-
-#define COOLANT_FLOOD_PIN GPIO_NUM_34
-#define COOLANT_MIST_PIN GPIO_NUM_36
-
-#define X_LIMIT_PIN GPIO_NUM_13
-#define Y_LIMIT_PIN GPIO_NUM_5
-#define Z_LIMIT_PIN GPIO_NUM_19
-
-#define PROBE_PIN GPIO_NUM_39
-
-#define CONTROL_RESET_PIN GPIO_NUM_2
-#define CONTROL_FEED_HOLD_PIN GPIO_NUM_4
-#define CONTROL_CYCLE_START_PIN GPIO_NUM_35 // ESP32 needs external pullup
diff --git a/Grbl_Esp32/src/Machines/spi_daisy_4axis_xyyz.h b/Grbl_Esp32/src/Machines/spi_daisy_4axis_xyyz.h
deleted file mode 100644
index 1bd15efd..00000000
--- a/Grbl_Esp32/src/Machines/spi_daisy_4axis_xyyz.h
+++ /dev/null
@@ -1,95 +0,0 @@
-#pragma once
-// clang-format off
-
-/*
- spi_daisy_4axis_xyyz.h
- Part of Grbl_ESP32
-
- Pin assignments for a 3-axis with Y ganged using Triaminic drivers
- in daisy-chained SPI mode.
- https://github.com/bdring/4_Axis_SPI_CNC
-
- 2019 - Bart Dring
- 2020 - Mitch Bradley
-
- Grbl_ESP32 is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- Grbl is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with Grbl_ESP32. If not, see .
-*/
-
-#define MACHINE_NAME "SPI_DAISY_4X_xyyz"
-
-#ifdef N_AXIS
- #undef N_AXIS
-#endif
-#define N_AXIS 3 // can be 3 or 4. (if 3 install bypass jumper next to the A driver)
-
-#define TRINAMIC_DAISY_CHAIN
-
-#define TRINAMIC_RUN_MODE TrinamicMode :: CoolStep
-#define TRINAMIC_HOMING_MODE TrinamicMode :: CoolStep
-
-// Use SPI enable instead of the enable pin
-// The hardware enable pin is tied to ground
-#define USE_TRINAMIC_ENABLE
-
-#define DEFAULT_HOMING_SQUARED_AXES bit(Y_AXIS)
-
-// Y motor connects to the 1st driver
-#define X_TRINAMIC_DRIVER 2130 // Which Driver Type?
-#define X_RSENSE TMC2130_RSENSE_DEFAULT
-#define X_STEP_PIN GPIO_NUM_12
-#define X_DIRECTION_PIN GPIO_NUM_14
-#define X_CS_PIN GPIO_NUM_17 // Daisy Chain, all share same CS pin
-
-// Y motor connects to the 2nd driver
-#define Y_TRINAMIC_DRIVER 2130 // Which Driver Type?
-#define Y_RSENSE TMC2130_RSENSE_DEFAULT
-#define Y_STEP_PIN GPIO_NUM_27
-#define Y_DIRECTION_PIN GPIO_NUM_26
-#define Y_CS_PIN X_CS_PIN // Daisy Chain, all share same CS pin
-
-// Y2 motor connects to the 2nd driver
-#define Y2_TRINAMIC_DRIVER 2130 // Which Driver Type?
-#define Y2_RSENSE TMC2130_RSENSE_DEFAULT
-#define Y2_STEP_PIN GPIO_NUM_15 // Z on schem
-#define Y2_DIRECTION_PIN GPIO_NUM_2 // Z on schem
-#define Y2_CS_PIN X_CS_PIN // Daisy Chain, all share same CS pin
-
-// Z Axis motor connects to the 4th driver
-#define Z_TRINAMIC_DRIVER 2130 // Which Driver Type?
-#define Z_RSENSE TMC2130_RSENSE_DEFAULT
-#define Z_STEP_PIN GPIO_NUM_33 // A on schem
-#define Z_DIRECTION_PIN GPIO_NUM_32 // A on schem
-#define Z_CS_PIN X_CS_PIN // Daisy Chain, all share same CS pin
-
-// Mist is a 3.3V output
-// Turn on with M7 and off with M9
-#define COOLANT_MIST_PIN GPIO_NUM_21
-
-#define SPINDLE_TYPE SpindleType::PWM
-#define SPINDLE_OUTPUT_PIN GPIO_NUM_25
-#define SPINDLE_ENABLE_PIN GPIO_NUM_4
-
-// Relay operation
-// Install Jumper near relay
-// For spindle Use max RPM of 1
-// For PWM remove jumper and set MAX RPM to something higher ($30 setting)
-// Interlock jumper along top edge needs to be installed for both versions
-#define DEFAULT_SPINDLE_RPM_MAX 1 // Should be 1 for relay operation
-
-#define PROBE_PIN GPIO_NUM_22
-
-#define X_LIMIT_PIN GPIO_NUM_36
-#define Y_LIMIT_PIN GPIO_NUM_39
-#define Z_LIMIT_PIN GPIO_NUM_34
-
diff --git a/Grbl_Esp32/src/Machines/tapster_pro_stepstick.h b/Grbl_Esp32/src/Machines/tapster_pro_stepstick.h
deleted file mode 100644
index 366157c5..00000000
--- a/Grbl_Esp32/src/Machines/tapster_pro_stepstick.h
+++ /dev/null
@@ -1,155 +0,0 @@
-#pragma once
-// clang-format off
-
-/*
- tapster_pro_stepstick.h
-
- 2020 - Bart Dring, Jason Huggins (Tapster Robotics)
-
- Grbl_ESP32 is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
- Grbl is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
- You should have received a copy of the GNU General Public License
- along with Grbl_ESP32. If not, see .
-*/
-
-#define MACHINE_NAME "Tapster Pro Delta (StepStick)"
-
-#define CUSTOM_CODE_FILENAME "Custom/parallel_delta.cpp"
-/*
-// enable these special machine functions to be called from the main program
-#define USE_KINEMATICS // there are kinematic equations for this machine
-#define FWD_KINEMATICS_REPORTING // report in cartesian
-#define USE_RMT_STEPS // Use the RMT periferal to generate step pulses
-#define USE_TRINAMIC // some Trinamic motors are used on this machine
-#define USE_MACHINE_TRINAMIC_INIT // there is a machine specific setup for the drivers
-#define USE_MACHINE_INIT // There is some custom initialization for this machine
-
-#define SEGMENT_LENGTH 0.5 // segment length in mm
-#define KIN_ANGLE_CALC_OK 0
-#define KIN_ANGLE_ERROR -1
-
-#define MAX_NEGATIVE_ANGLE -36 // in degrees how far can the arms go up?
-
-#define HOMING_CURRENT_REDUCTION 1.0
-
-*/
-
-#define N_AXIS 3
-
-#define USE_KINEMATICS // there are kinematic equations for this machine
-#define USE_FWD_KINEMATICS // report in cartesian
-#define USE_MACHINE_INIT // There is some custom initialization for this machine
-
-// ================== Delta Geometry ===========================
-
-#define RADIUS_FIXED 100.0f // radius of the fixed side (length of motor cranks)
-#define RADIUS_EFF 220.0f // radius of end effector side (length of linkages)
-#define LENGTH_FIXED_SIDE 294.449f // sized of fixed side triangel
-#define LENGTH_EFF_SIDE 86.6025f // size of end effector side triangle
-#define KINEMATIC_SEGMENT_LENGTH 1.0f // segment length in mm
-#define MAX_NEGATIVE_ANGLE -0.75f //
-#define MAX_POSITIVE_ANGLE (M_PI / 2.0) //
-
-
-// ================== Config ======================
-
-// Set $Homing/Cycle0=XYZ
-
-// === Special Features
-
-// I2S (steppers & other output-only pins)
-#define USE_I2S_OUT
-#define USE_I2S_STEPS
-//#define DEFAULT_STEPPER ST_I2S_STATIC
-// === Default settings
-#define DEFAULT_STEP_PULSE_MICROSECONDS I2S_OUT_USEC_PER_PULSE
-
-#define USE_STEPSTICK // makes sure MS1,2,3 !reset and !sleep are set
-
-#define I2S_OUT_BCK GPIO_NUM_22
-#define I2S_OUT_WS GPIO_NUM_17
-#define I2S_OUT_DATA GPIO_NUM_21
-
-// ================== CPU MAP ======================
-
-#define X_STEPPER_MS3 I2SO(3) // X_CS
-#define Y_STEPPER_MS3 I2SO(6) // Y_CS
-#define Z_STEPPER_MS3 I2SO(11) // Z_CS
-
-#define STEPPER_RESET GPIO_NUM_19
-
-// Motor Socket #1
-#define X_DISABLE_PIN I2SO(0)
-#define X_DIRECTION_PIN I2SO(1)
-#define X_STEP_PIN I2SO(2)
-
-// Motor Socket #2
-#define Y_DIRECTION_PIN I2SO(4)
-#define Y_STEP_PIN I2SO(5)
-#define Y_DISABLE_PIN I2SO(7)
-
-// Motor Socket #3
-#define Z_DISABLE_PIN I2SO(8)
-#define Z_DIRECTION_PIN I2SO(9)
-#define Z_STEP_PIN I2SO(10)
-
-// CNC I/O Modules
-
-#define X_LIMIT_PIN GPIO_NUM_33
-#define Y_LIMIT_PIN GPIO_NUM_32
-#define Z_LIMIT_PIN GPIO_NUM_35
-
-// ================= defaults ===========================
-
-#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // keep them on, the trinamics will reduce power at idle
-
-#define DEFAULT_X_MICROSTEPS 32
-#define DEFAULT_Y_MICROSTEPS DEFAULT_X_MICROSTEPS
-#define DEFAULT_Z_MICROSTEPS DEFAULT_X_MICROSTEPS
-
-// some math to figure out microsteps per unit // units could bedegrees or radians
-#define UNITS_PER_REV (2.0 * M_PI) // 360.0 degrees or 6.2831853 radians
-#define STEPS_PER_REV 400.0
-#define REDUCTION_RATIO (60.0 / 16.0) // the pulleys on arm and motor
-#define MICROSTEPS_PER_REV (STEPS_PER_REV * (float)DEFAULT_X_MICROSTEPS * REDUCTION_RATIO)
-
-#define DEFAULT_X_STEPS_PER_MM (MICROSTEPS_PER_REV / UNITS_PER_REV)
-#define DEFAULT_Y_STEPS_PER_MM DEFAULT_X_STEPS_PER_MM
-#define DEFAULT_Z_STEPS_PER_MM DEFAULT_X_STEPS_PER_MM
-
-#define DEFAULT_X_MAX_RATE 100.0 // mm/min
-#define DEFAULT_Y_MAX_RATE DEFAULT_X_MAX_RATE
-#define DEFAULT_Z_MAX_RATE DEFAULT_X_MAX_RATE
-
-#define DEFAULT_X_ACCELERATION 20.0
-#define DEFAULT_Y_ACCELERATION DEFAULT_X_ACCELERATION
-#define DEFAULT_Z_ACCELERATION DEFAULT_X_ACCELERATION
-
-// homing
-#define DEFAULT_HOMING_FEED_RATE 25
-#define DEFAULT_HOMING_SEEK_RATE 100
-#define DEFAULT_HOMING_DIR_MASK (bit(X_AXIS) | bit(Y_AXIS) | bit(Z_AXIS)) // all axes home negative
-#define DEFAULT_HOMING_ENABLE 1
-#define DEFAULT_INVERT_LIMIT_PINS 0
-
-// The machine homes up and above center. MPos is the axis angle in radians
-// at the homing posiiton
-
-#define DEFAULT_X_HOMING_MPOS -0.75 // neagtive because above horizontal
-#define DEFAULT_Y_HOMING_MPOS -0.75
-#define DEFAULT_Z_HOMING_MPOS -0.75
-
-// the total travel is straight down from horizontal (pi/2) + the up travel
-#define DEFAULT_X_MAX_TRAVEL ((M_PI / 2.0) - DEFAULT_X_HOMING_MPOS)
-#define DEFAULT_Y_MAX_TRAVEL DEFAULT_X_MAX_TRAVEL
-#define DEFAULT_Z_MAX_TRAVEL DEFAULT_X_MAX_TRAVEL
-
-#define DEFAULT_HOMING_PULLOFF -DEFAULT_X_HOMING_MPOS
-
-#define SPINDLE_TYPE SpindleType::NONE
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