diff --git a/Grbl_Esp32/grbl.h b/Grbl_Esp32/grbl.h
index d93c3618..4203e775 100644
--- a/Grbl_Esp32/grbl.h
+++ b/Grbl_Esp32/grbl.h
@@ -20,7 +20,7 @@
 
 // Grbl versioning system
 #define GRBL_VERSION "1.1f"
-#define GRBL_VERSION_BUILD "20190602"
+#define GRBL_VERSION_BUILD "20190616"
 
 //#include <sdkconfig.h>
 #include <Arduino.h>
diff --git a/Grbl_Esp32/servo_pen.cpp b/Grbl_Esp32/servo_pen.cpp
index 513d9114..6e575bfa 100644
--- a/Grbl_Esp32/servo_pen.cpp
+++ b/Grbl_Esp32/servo_pen.cpp
@@ -23,6 +23,8 @@
 
 #ifdef USE_PEN_SERVO
 
+static TaskHandle_t servoSyncTaskHandle = 0;
+
 // used to delay turn on
 bool servo_pen_enable = false;
 
diff --git a/Grbl_Esp32/servo_pen.h b/Grbl_Esp32/servo_pen.h
index 1d1a0364..ab58bbcb 100644
--- a/Grbl_Esp32/servo_pen.h
+++ b/Grbl_Esp32/servo_pen.h
@@ -67,8 +67,6 @@
 #ifndef servo_h
 #define servo_h
 
-static TaskHandle_t servoSyncTaskHandle = 0;
-
 void servo_init();
 void servo_disable();
 bool validate_servo_settings(bool verbose);
diff --git a/Grbl_Esp32/solenoid_pen.cpp b/Grbl_Esp32/solenoid_pen.cpp
index 3729124d..6b0b30c5 100644
--- a/Grbl_Esp32/solenoid_pen.cpp
+++ b/Grbl_Esp32/solenoid_pen.cpp
@@ -23,6 +23,8 @@
 
 #ifdef USE_PEN_SOLENOID
 
+static TaskHandle_t solenoidSyncTaskHandle = 0;
+
 // used to delay turn on
 bool solenoid_pen_enable; 
 uint16_t solenoide_hold_count;
diff --git a/Grbl_Esp32/solenoid_pen.h b/Grbl_Esp32/solenoid_pen.h
index 313b1078..cd7c328a 100644
--- a/Grbl_Esp32/solenoid_pen.h
+++ b/Grbl_Esp32/solenoid_pen.h
@@ -46,7 +46,7 @@
 
 #ifndef solenoid_h
 #define solenoid_h
-static TaskHandle_t solenoidSyncTaskHandle = 0;
+
 void solenoid_init();
 void solenoid_disable();
 void solenoidSyncTask(void *pvParameters);
diff --git a/Grbl_Esp32/stepper.cpp b/Grbl_Esp32/stepper.cpp
index 2f198eaa..a395432b 100644
--- a/Grbl_Esp32/stepper.cpp
+++ b/Grbl_Esp32/stepper.cpp
@@ -198,6 +198,58 @@ static st_prep_t prep;
 
 
 */
+
+#ifdef USE_RMT_STEPS
+// Set stepper pulse output pins
+inline IRAM_ATTR static void stepperRMT_Outputs()
+{
+
+#ifdef  X_STEP_PIN
+	if(st.step_outbits & (1<<X_AXIS)) {
+	#ifndef X_STEP_B_PIN // if not a ganged axis
+			RMT.conf_ch[X_RMT_CHANNEL].conf1.mem_rd_rst = 1;
+			RMT.conf_ch[X_RMT_CHANNEL].conf1.tx_start = 1;
+	#else // it is a ganged axis
+			if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
+				RMT.conf_ch[X_RMT_CHANNEL].conf1.mem_rd_rst = 1;
+				RMT.conf_ch[X_RMT_CHANNEL].conf1.tx_start = 1;			}
+			
+			if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
+				RMT.conf_ch[X_B_RMT_CHANNEL].conf1.mem_rd_rst = 1;
+				RMT.conf_ch[X_B_RMT_CHANNEL].conf1.tx_start = 1;
+			}			
+	#endif
+	}
+
+#endif
+
+#ifdef  Y_STEP_PIN
+	if(st.step_outbits & (1<<Y_AXIS)) {
+#ifndef Y_STEP_B_PIN // if not a ganged axis
+		RMT.conf_ch[Y_RMT_CHANNEL].conf1.mem_rd_rst = 1;
+		RMT.conf_ch[Y_RMT_CHANNEL].conf1.tx_start = 1;
+#else // it is a ganged axis
+		if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
+			RMT.conf_ch[Y_RMT_CHANNEL].conf1.mem_rd_rst = 1;
+			RMT.conf_ch[Y_RMT_CHANNEL].conf1.tx_start = 1;
+		}		
+		if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
+			RMT.conf_ch[Y_B_RMT_CHANNEL].conf1.mem_rd_rst = 1;
+			RMT.conf_ch[Y_B_RMT_CHANNEL].conf1.tx_start = 1;
+		}		
+#endif
+	}
+#endif
+
+#ifdef  Z_STEP_PIN
+	if(st.step_outbits & (1<<Z_AXIS)) {
+		RMT.conf_ch[Z_RMT_CHANNEL].conf1.mem_rd_rst = 1;
+		RMT.conf_ch[Z_RMT_CHANNEL].conf1.tx_start = 1;
+	}
+#endif
+}
+#endif
+
 // TODO: Replace direct updating of the int32 position counters in the ISR somehow. Perhaps use smaller
 // int8 variables and update position counters only when a segment completes. This can get complicated
 // with probing and homing cycles that require true real-time positions.
@@ -670,57 +722,6 @@ void set_stepper_pins_on(uint8_t onMask)
 }
 #endif
 
-#ifdef USE_RMT_STEPS
-// Set stepper pulse output pins
-inline IRAM_ATTR static void stepperRMT_Outputs()
-{
-
-#ifdef  X_STEP_PIN
-	if(st.step_outbits & (1<<X_AXIS)) {
-	#ifndef X_STEP_B_PIN // if not a ganged axis
-			RMT.conf_ch[X_RMT_CHANNEL].conf1.mem_rd_rst = 1;
-			RMT.conf_ch[X_RMT_CHANNEL].conf1.tx_start = 1;
-	#else // it is a ganged axis
-			if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
-				RMT.conf_ch[X_RMT_CHANNEL].conf1.mem_rd_rst = 1;
-				RMT.conf_ch[X_RMT_CHANNEL].conf1.tx_start = 1;			}
-			
-			if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
-				RMT.conf_ch[X_B_RMT_CHANNEL].conf1.mem_rd_rst = 1;
-				RMT.conf_ch[X_B_RMT_CHANNEL].conf1.tx_start = 1;
-			}			
-	#endif
-	}
-
-#endif
-
-#ifdef  Y_STEP_PIN
-	if(st.step_outbits & (1<<Y_AXIS)) {
-#ifndef Y_STEP_B_PIN // if not a ganged axis
-		RMT.conf_ch[Y_RMT_CHANNEL].conf1.mem_rd_rst = 1;
-		RMT.conf_ch[Y_RMT_CHANNEL].conf1.tx_start = 1;
-#else // it is a ganged axis
-		if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
-			RMT.conf_ch[Y_RMT_CHANNEL].conf1.mem_rd_rst = 1;
-			RMT.conf_ch[Y_RMT_CHANNEL].conf1.tx_start = 1;
-		}		
-		if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
-			RMT.conf_ch[Y_B_RMT_CHANNEL].conf1.mem_rd_rst = 1;
-			RMT.conf_ch[Y_B_RMT_CHANNEL].conf1.tx_start = 1;
-		}		
-#endif
-	}
-#endif
-
-#ifdef  Z_STEP_PIN
-	if(st.step_outbits & (1<<Z_AXIS)) {
-		RMT.conf_ch[Z_RMT_CHANNEL].conf1.mem_rd_rst = 1;
-		RMT.conf_ch[Z_RMT_CHANNEL].conf1.tx_start = 1;
-	}
-#endif
-}
-#endif
-
 // Stepper shutdown
 void st_go_idle()
 {
diff --git a/Grbl_Esp32/stepper.h b/Grbl_Esp32/stepper.h
index 527d9e12..776c5daf 100644
--- a/Grbl_Esp32/stepper.h
+++ b/Grbl_Esp32/stepper.h
@@ -83,7 +83,6 @@ void IRAM_ATTR onSteppertimer();
 void IRAM_ATTR onStepperOffTimer();
 void stepper_init();
 void initRMT(); 
-inline IRAM_ATTR static void stepperRMT_Outputs();
 
 // Enable steppers, but cycle does not start unless called by motion control or realtime command.
 void st_wake_up();
diff --git a/README.md b/README.md
index f8324f0d..6b29b1a0 100644
--- a/README.md
+++ b/README.md
@@ -6,7 +6,7 @@
 
 ### Project Overview
 
-[![Build Status](https://travis-ci.org/bdring/Grbl_Esp32.svg?branch=master)](https://travis-ci.org/bdring/Grbl_Esp32)
+[![Build Status](https://travis-ci.com/odaki/Grbl_Esp32.svg?branch=master)](https://travis-ci.com/odaki/Grbl_Esp32)
 
 This is a port of [Grbl](https://github.com/gnea/grbl) for the ESP32. The ESP32 is potentially a great target for Grbl for the following reasons
 
@@ -54,4 +54,3 @@ Start asking questions...I'll put the frequent ones here.
 This project requires a lot of work and often expensive items for testing. Please consider a safe, secure and highly appreciated donation via the PayPal link below.
 
 [![](https://www.paypalobjects.com/en_US/i/btn/btn_donateCC_LG.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=TKNJ9Z775VXB2)
-