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# Grbl (CNC Controller) For ESP32
![ESP32](http://www.buildlog.net/blog/wp-content/uploads/2018/10/20181007_153826.jpg)
<img src="https://github.com/bdring/6-Pack_CNC_Controller/blob/master/images/20200711_120633.jpg" width="600">
### Project Overview
@ -15,6 +15,7 @@ Grbl_ESP32 started as a port of [Grbl](https://github.com/gnea/grbl) to the ESP3
- Motor drivers can be dynamically assigned to axes, so a 4 motor XYZA controller could be converted to a XYYZ (dual motor Y axis) without any hardware changes.
- Step rates up to 120,000 per/second.
- Trinamic (SPI controlled) stepper motors are supported including StealthChop, CoolStep and StallGuard modes. Sensorless homing can be used.
- Unipolar stepper motor can be directly driven
- RC hobby servos can be used as coordinated motors with acceleration and speed control.
- **Peripherals**
- Limit/Homing Switches with debouncing