diff --git a/Grbl_Esp32/data/config.yaml b/Grbl_Esp32/data/config.yaml
index 3524fbfa..c185a596 100644
--- a/Grbl_Esp32/data/config.yaml
+++ b/Grbl_Esp32/data/config.yaml
@@ -3,17 +3,12 @@ board: "ESP32 Dev Controller V4"
 yaml_wiki: "https://github.com/bdring/Grbl_Esp32/wiki/YAML-Config-File"
 
 idle_time: 250
-step_type: I2S_static
+step_type: rmt
 dir_delay_microseconds: 1
 pulse_microseconds: 2
 disable_delay_us: 0
 homing_init_lock: false
 
-i2so:
-  bck: gpio.22
-  ws: gpio.17
-  data: gpio.21
-
 axes:
   number_axis: 3
   shared_stepper_disable: gpio.13:low
@@ -25,15 +20,14 @@ axes:
     max_travel: 1000
     homing:
       mpos: 10
+      positive_direction: false
     
     gang0:
       endstops:
-        dual: gpio.33:low:pu
+        dual: gpio.17:low:pu
       stepstick:
-        disable: i2so.0
-        direction: i2so.1
-        step: i2so.2
-        ms3: i2so.3
+        direction: gpio.14
+        step: gpio.12
     gang1:
       null_motor:
 
@@ -44,15 +38,14 @@ axes:
     max_travel: 1000
     homing:
       mpos: 10
+      positive_direction: false
 
     gang0:
       endstops:
-        dual: gpio.32:low:pu
+        dual: gpio.4:low:pu
       stepstick:
-        disable: i2so.7
-        direction: i2so.4
-        step: i2so.5
-        ms3: i2so.6
+        direction: gpio.15
+        step: gpio.26
     gang1:
       null_motor:
 
@@ -63,30 +56,33 @@ axes:
     max_travel: 1000
     homing:
       mpos: 10
+      positive_direction: true
 
     gang0:
       endstops:
-        dual: gpio.34:low:pu
+        dual: gpio.16:low:pu
       stepstick:
-        disable: i2so.8
-        direction: i2so.9
-        step: i2so.10
-        ms3: i2so.11
+        direction: gpio.33
+        step: gpio.27
     gang1:
       null_motor:
 
 
 coolant:
-  flood: i2so.25
-  mist:  i2so.24
+  flood: gpio.25
+  mist:  gpio.21
 
 comms:
     wifi_sta:
-        ssid: StefanMieke
+        ssid: Barts-WLAN
 
     wifi_ap:
         ip_address: "192.168.0.1"
-        ssid: ScratchThat
+        ssid: GRBL_ESP32
         
 probe:
     pin: gpio.32:low:pu
+
+PWM:
+  output_pin: gpio.2
+  enable_pin: gpio.22
diff --git a/Grbl_Esp32/src/Grbl.cpp b/Grbl_Esp32/src/Grbl.cpp
index 3eb8c382..d9281e0d 100644
--- a/Grbl_Esp32/src/Grbl.cpp
+++ b/Grbl_Esp32/src/Grbl.cpp
@@ -90,8 +90,7 @@ void grbl_init() {
             // If there is an axis with homing configured, enter Alarm state on startup
             sys.state = State::Alarm;
         }
-        info_serial("Initializing spindle...");
-
+        config->_spindle->init();
         config->_coolant->init();
         limits_init();
         config->_probe->init();
diff --git a/Grbl_Esp32/src/MachineConfig.h b/Grbl_Esp32/src/MachineConfig.h
index d7915315..8d0671a3 100644
--- a/Grbl_Esp32/src/MachineConfig.h
+++ b/Grbl_Esp32/src/MachineConfig.h
@@ -45,7 +45,7 @@ public:
     //     Pin  _positive;
     //     Pin  _negative;
     Pin  _dual;
-    bool _hardLimits = true;
+    bool _hardLimits = false;
 
     // Configuration system helpers:
     void validate() const override;
@@ -322,7 +322,7 @@ public:
 class MachineConfig : public Configuration::Configurable {
 public:
     MachineConfig() = default;
-    
+
     Axes*              _axes        = nullptr;
     SPIBus*            _spi         = nullptr;
     I2SOBus*           _i2so        = nullptr;
diff --git a/Grbl_Esp32/src/Machines/3axis_v4.yaml b/Grbl_Esp32/src/Machines/3axis_v4.yaml
index c185a596..dce83c71 100644
--- a/Grbl_Esp32/src/Machines/3axis_v4.yaml
+++ b/Grbl_Esp32/src/Machines/3axis_v4.yaml
@@ -83,6 +83,6 @@ comms:
 probe:
     pin: gpio.32:low:pu
 
-PWM:
+pwm:
   output_pin: gpio.2
   enable_pin: gpio.22
diff --git a/Grbl_Esp32/src/Spindles/PWMSpindle.h b/Grbl_Esp32/src/Spindles/PWMSpindle.h
index 04effa43..9ea9187d 100644
--- a/Grbl_Esp32/src/Spindles/PWMSpindle.h
+++ b/Grbl_Esp32/src/Spindles/PWMSpindle.h
@@ -86,7 +86,7 @@ namespace Spindles {
         Pin      _enable_pin;
         Pin      _direction_pin;
         uint8_t  _pwm_chan_num;
-        uint32_t _pwm_freq;
+        uint32_t _pwm_freq = 5000;
         uint32_t _pwm_period;  // how many counts in 1 period
         uint8_t  _pwm_precision;
         bool     _off_with_zero_speed;