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diff --git a/Ressource/pinoutESP(cpu_map).h b/Ressource/pinoutESP(cpu_map).h
new file mode 100644
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+++ b/Ressource/pinoutESP(cpu_map).h
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+/*
+  cpu_map.h - Header for system level commands and real-time processes
+  Part of Grbl
+  Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
+	
+	2018 -	Bart Dring This file was modified for use on the ESP32
+					CPU. Do not use this with Grbl for atMega328P
+	
+  Grbl 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.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef cpu_map_h
+//#define cpu_map_h 
+
+  /*
+	Not all pins can can work for all functions.
+	Check features like pull-ups, pwm, etc before
+  re-assigning numbers
+	
+	(gpio34-39) are inputs only and don't have software pullup/down functions
+	You MUST use external pull-ups or noise WILL cause problems.
+	
+	Unlike the AVR version certain pins are not forced into the same port. 
+	Therefore, bit masks are not use the same way and typically should not be 
+	changed. They are just preserved right now to make it easy to stay in sync
+	with AVR grbl
+	
+	*/
+		
+
+// ---------------- PINOUT UTILISER POUR LA CRA4 ---------------------------
+#ifdef CPU_MAP_ESP32 // PINOUT UTILISER POUR LA CRA4
+	// This is the CPU Map for the ESP32 CNC Controller R2	
+	
+	  // It is OK to comment out any step and direction pins. This
+    // won't affect operation except that there will be no output
+		// form the pins. Grbl will virtually move the axis. This could 
+		// be handy if you are using a servo, etc. for another axis.
+		#define CPU_MAP_NAME "CPU_MAP_ESP32"	
+		
+		#define X_STEP_PIN      	GPIO_NUM_12
+		#define X_DIRECTION_PIN  	GPIO_NUM_26
+		#define X_RMT_CHANNEL		0
+		
+		#define Y_STEP_PIN      	GPIO_NUM_14
+		#define Y_DIRECTION_PIN   	GPIO_NUM_25
+		#define Y_RMT_CHANNEL		1
+		
+		#define Z_STEP_PIN      	GPIO_NUM_27		
+		#define Z_DIRECTION_PIN   	GPIO_NUM_33 		 
+		#define Z_RMT_CHANNEL		2		
+		
+		// OK to comment out to use pin for other features
+		#define STEPPERS_DISABLE_PIN GPIO_NUM_2		
+		
+		// *** the flood coolant feature code is activated by defining this pins
+		// *** Comment it out to use the pin for other features
+		#define COOLANT_FLOOD_PIN 	GPIO_NUM_16			
+		//#define COOLANT_MIST_PIN   	GPIO_NUM_21
+		
+		// If SPINDLE_PWM_PIN is commented out, this frees up the pin, but Grbl will still
+		// use a virtual spindle. Do not comment out the other parameters for the spindle.
+		#define SPINDLE_PWM_PIN    GPIO_NUM_17 
+		#define SPINDLE_PWM_CHANNEL 0
+		// PWM Generator is based on 80,000,000 Hz counter
+		// Therefor the freq determines the resolution
+		// 80,000,000 / freq = max resolution
+		// For 5000 that is 80,000,000 / 5000 = 16000 
+		// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
+		#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
+		#define SPINDLE_PWM_BIT_PRECISION 8   // be sure to match this with SPINDLE_PWM_MAX_VALUE
+		#define SPINDLE_PWM_OFF_VALUE     0
+		#define SPINDLE_PWM_MAX_VALUE     255 // (2^SPINDLE_PWM_BIT_PRECISION)
+		
+		#ifndef SPINDLE_PWM_MIN_VALUE
+				#define SPINDLE_PWM_MIN_VALUE   1   // Must be greater than zero.
+		#endif
+		
+		#define SPINDLE_ENABLE_PIN	GPIO_NUM_22
+		
+		#define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)		
+		
+		// if these spindle function pins are defined, they will be activated in the code
+		// comment them out to use the pins for other functions
+		//#define SPINDLE_ENABLE_PIN	GPIO_NUM_16
+		//#define SPINDLE_DIR_PIN			GPIO_NUM_16		
+		
+		#define X_LIMIT_PIN      	GPIO_NUM_13 // Utiliser la pin 2 en tant qu'input pose probleme avec la led integrer a l'esp. Du coup la 13 (pour spindle enable normalement) est utiliser pour le endstop X et la 2 en output pour spindle enable
+		#define Y_LIMIT_PIN      	GPIO_NUM_4  
+		#define Z_LIMIT_PIN     	GPIO_NUM_15 	
+		#define LIMIT_MASK      	B111
+		
+		#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    		
+		
+#endif
+
+// ------------------------- NON UTILISER -------------------------------
+#ifdef CPU_MAP_ESP32_ESC_SPINDLE
+	// This is the CPU Map for the ESP32 CNC Controller R2	
+	
+	  // It is OK to comment out any step and direction pins. This
+    // won't affect operation except that there will be no output
+		// form the pins. Grbl will virtually move the axis. This could 
+		// be handy if you are using a servo, etc. for another axis.
+		#define CPU_MAP_NAME "CPU_MAP_ESP32_ESC_SPINDLE"	
+		
+		#define X_STEP_PIN      	GPIO_NUM_12
+		#define X_DIRECTION_PIN  	GPIO_NUM_26
+		#define X_RMT_CHANNEL		0
+		
+		#define Y_STEP_PIN      	GPIO_NUM_14
+		#define Y_DIRECTION_PIN   	GPIO_NUM_25
+		#define Y_RMT_CHANNEL		1
+		
+		#define Z_STEP_PIN      	GPIO_NUM_27		
+		#define Z_DIRECTION_PIN   	GPIO_NUM_33 		 
+		#define Z_RMT_CHANNEL		2		
+		
+		// OK to comment out to use pin for other features
+		#define STEPPERS_DISABLE_PIN GPIO_NUM_13		
+		
+		// *** the flood coolant feature code is activated by defining this pins
+		// *** Comment it out to use the pin for other features
+		#define COOLANT_FLOOD_PIN 	GPIO_NUM_16			
+		//#define COOLANT_MIST_PIN   	GPIO_NUM_21
+		
+		// If SPINDLE_PWM_PIN is commented out, this frees up the pin, but Grbl will still
+		// use a virtual spindle. Do not comment out the other parameters for the spindle.
+		#define SPINDLE_PWM_PIN    GPIO_NUM_17 
+		#define SPINDLE_PWM_CHANNEL 0
+		
+		// RC ESC Based Spindle 
+		// An ESC works like a hobby servo with 50Hz PWM 1ms to 2 ms pulse range		
+		#define SPINDLE_PWM_BASE_FREQ 50 // Hz for ESC
+		#define SPINDLE_PWM_BIT_PRECISION 16   // 16 bit required for ESC
+		#define SPINDLE_PULSE_RES_COUNT 65535
+		
+		#define ESC_MIN_PULSE_SEC 0.001 // min pulse in seconds (OK to tune this one)
+		#define ESC_MAX_PULSE_SEC 0.002 // max pulse in seconds (OK to tune this one)		
+		#define ESC_TIME_PER_BIT  ((1.0 / (float)SPINDLE_PWM_BASE_FREQ) / ((float)SPINDLE_PULSE_RES_COUNT) ) // seconds
+
+		#define SPINDLE_PWM_OFF_VALUE    (uint16_t)(ESC_MIN_PULSE_SEC / ESC_TIME_PER_BIT) // in timer counts
+		#define SPINDLE_PWM_MAX_VALUE    (uint16_t)(ESC_MAX_PULSE_SEC / ESC_TIME_PER_BIT) // in timer counts
+		
+		#ifndef SPINDLE_PWM_MIN_VALUE
+				#define SPINDLE_PWM_MIN_VALUE   SPINDLE_PWM_OFF_VALUE   // Must be greater than zero.
+		#endif
+		
+		#define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
+		
+		#define SPINDLE_ENABLE_PIN	GPIO_NUM_22			
+		
+		// if these spindle function pins are defined, they will be activated in the code
+		// comment them out to use the pins for other functions
+		//#define SPINDLE_ENABLE_PIN	GPIO_NUM_16
+		//#define SPINDLE_DIR_PIN			GPIO_NUM_16		
+		
+		#define X_LIMIT_PIN      	GPIO_NUM_2  
+		#define Y_LIMIT_PIN      	GPIO_NUM_4  
+		#define Z_LIMIT_PIN     	GPIO_NUM_15 	
+		#define LIMIT_MASK      	B111
+		
+		#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    		
+		
+#endif
+		
+		
+#ifdef CPU_MAP_PEN_LASER  // The Buildlog.net pen laser controller V1
+
+		// For pen mode be sure to uncomment #define USE_PEN_SERVO in config.h
+		// For solenoid  mode be sure to uncomment #define USE_PEN_SERVO in config.h
+		// For laser mode, you do not need to change anything
+		// Note: You can use all 3 modes at the same time if you want
+		
+		#define CPU_MAP_NAME "CPU_MAP_PEN_LASER"
+		
+		#define USE_RMT_STEPS
+		
+		// Pick a board version
+		//#define PEN_LASER_V1
+		#define PEN_LASER_V2
+
+		#define X_STEP_PIN      	GPIO_NUM_12
+		#define X_DIRECTION_PIN   	GPIO_NUM_26
+		#define X_RMT_CHANNEL		0
+		
+		
+		#define Y_STEP_PIN      	GPIO_NUM_14
+		#define Y_DIRECTION_PIN   	GPIO_NUM_25
+		#define Y_RMT_CHANNEL		1
+		
+		#define STEPPERS_DISABLE_PIN GPIO_NUM_13
+		
+		#ifdef PEN_LASER_V1
+			#define X_LIMIT_PIN      	GPIO_NUM_2
+		#endif
+		#ifdef PEN_LASER_V2
+			#define X_LIMIT_PIN      	GPIO_NUM_15
+		#endif		
+		#define Y_LIMIT_PIN      	GPIO_NUM_4
+		#define LIMIT_MASK      	B11				
+		
+		// If SPINDLE_PWM_PIN is commented out, this frees up the pin, but Grbl will still
+		// use a virtual spindle. Do not comment out the other parameters for the spindle.
+		#define SPINDLE_PWM_PIN    GPIO_NUM_17 // Laser PWM
+		#define SPINDLE_PWM_CHANNEL 0
+		// PWM Generator is based on 80,000,000 Hz counter
+		// Therefor the freq determines the resolution
+		// 80,000,000 / freq = max resolution
+		// For 5000 that is 80,000,000 / 5000 = 16000 
+		// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
+		#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
+		#define SPINDLE_PWM_BIT_PRECISION 8   // be sure to match this with SPINDLE_PWM_MAX_VALUE
+		#define SPINDLE_PWM_OFF_VALUE     0
+		#define SPINDLE_PWM_MAX_VALUE     255 // (2^SPINDLE_PWM_BIT_PRECISION)
+		
+		#ifndef SPINDLE_PWM_MIN_VALUE
+				#define SPINDLE_PWM_MIN_VALUE   1   // Must be greater than zero.
+		#endif
+		
+		#define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)			
+		
+		#define USING_SERVO  // uncommewnt to use this feature
+		#define USING_SOLENOID // uncommewnt to use this feature
+		
+		#ifdef USING_SERVO
+			#define USE_SERVO_AXES 
+			#define SERVO_Z_PIN 	GPIO_NUM_27
+			#define SERVO_Z_CHANNEL_NUM 3
+			#define SERVO_Z_RANGE_MIN 0
+			#define SERVO_Z_RANGE_MAX 10
+		#endif
+		
+		#ifdef USING_SOLENOID
+			#define USE_PEN_SOLENOID
+			#define SOLENOID_PEN_PIN GPIO_NUM_16
+			#define SOLENOID_CHANNEL_NUM 6
+		#endif
+		
+		
+		
+		#ifdef DEFAULTS_GENERIC 
+			#undef DEFAULTS_GENERIC  // undefine generic then define each default below
+		#endif
+		
+		// defaults
+		#define DEFAULT_STEP_PULSE_MICROSECONDS 3 
+		#define DEFAULT_STEPPER_IDLE_LOCK_TIME 250 // stay on
+		
+		#define DEFAULT_STEPPING_INVERT_MASK 0 // uint8_t
+		#define DEFAULT_DIRECTION_INVERT_MASK 0 // uint8_t
+		#define DEFAULT_INVERT_ST_ENABLE 0 // boolean
+		#define DEFAULT_INVERT_LIMIT_PINS 1 // boolean
+		#define DEFAULT_INVERT_PROBE_PIN 0 // boolean 
+		
+		#define DEFAULT_STATUS_REPORT_MASK 1
+		
+		#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
+		#define DEFAULT_ARC_TOLERANCE 0.002 // mm
+		#define DEFAULT_REPORT_INCHES 0 // false
+		
+		#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
+		#define DEFAULT_HARD_LIMIT_ENABLE 0  // false
+		
+		#define DEFAULT_HOMING_ENABLE 0  
+		#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir Z, negative X,Y
+		#define DEFAULT_HOMING_FEED_RATE 200.0 // mm/min
+		#define DEFAULT_HOMING_SEEK_RATE 1000.0 // mm/min
+		#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
+		#define DEFAULT_HOMING_PULLOFF 3.0 // mm
+
+		#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
+		#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
+		
+		#define DEFAULT_LASER_MODE 0 // false
+		
+		#define DEFAULT_X_STEPS_PER_MM 80
+		#define DEFAULT_Y_STEPS_PER_MM 80
+		#define DEFAULT_Z_STEPS_PER_MM 100.0 // This is percent in servo mode...used for calibration
+		
+		#define DEFAULT_X_MAX_RATE 5000.0 // mm/min
+		#define DEFAULT_Y_MAX_RATE 5000.0 // mm/min
+		#define DEFAULT_Z_MAX_RATE 5000.0 // mm/min
+		
+		#define DEFAULT_X_ACCELERATION (50.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+		#define DEFAULT_Y_ACCELERATION (50.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+		#define DEFAULT_Z_ACCELERATION (50.0*60*60) 
+		
+		#define DEFAULT_X_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
+		#define DEFAULT_Y_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
+		#define DEFAULT_Z_MAX_TRAVEL 100.0 // This is percent in servo mode...used for calibration
+		
+		
+#endif
+
+#ifdef CPU_MAP_MIDTBOT  // Buildlog.net midtbot
+
+	#define CPU_MAP_NAME "CPU_MAP_MIDTBOT"
+
+		#define X_STEP_PIN      GPIO_NUM_12
+		#define Y_STEP_PIN      GPIO_NUM_14		
+		#define X_DIRECTION_PIN   GPIO_NUM_26
+		#define Y_DIRECTION_PIN   GPIO_NUM_25  
+		
+		#ifndef COREXY // maybe set in config.h
+			#define COREXY
+		#endif
+		
+		#define STEPPERS_DISABLE_PIN GPIO_NUM_13
+		
+		#define X_LIMIT_PIN      	GPIO_NUM_2  
+		#define Y_LIMIT_PIN      	GPIO_NUM_4
+		#define LIMIT_MASK      	B11		
+		
+		#ifndef USE_PEN_SERVO  // maybe set in config.h
+			#define USE_PEN_SERVO
+		#endif
+		
+		#ifndef IGNORE_CONTROL_PINS // maybe set in config.h
+			#define IGNORE_CONTROL_PINS
+		#endif
+		#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		
+		
+		// If SPINDLE_PWM_PIN is commented out, this frees up the pin, but Grbl will still
+		// use a virtual spindle. Do not comment out the other parameters for the spindle.
+		//#define SPINDLE_PWM_PIN    GPIO_NUM_17 // Laser PWM
+		#define SPINDLE_PWM_CHANNEL 0
+		// PWM Generator is based on 80,000,000 Hz counter
+		// Therefor the freq determines the resolution
+		// 80,000,000 / freq = max resolution
+		// For 5000 that is 80,000,000 / 5000 = 16000 
+		// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
+		#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
+		#define SPINDLE_PWM_BIT_PRECISION 8   // be sure to match this with SPINDLE_PWM_MAX_VALUE
+		#define SPINDLE_PWM_OFF_VALUE     0
+		#define SPINDLE_PWM_MAX_VALUE     255 // (2^SPINDLE_PWM_BIT_PRECISION)
+		
+		#ifndef SPINDLE_PWM_MIN_VALUE
+				#define SPINDLE_PWM_MIN_VALUE   1   // Must be greater than zero.
+		#endif
+		
+		// redefine some stuff from config.h
+		#define HOMING_CYCLE_0 (1<<Y_AXIS)
+		#define HOMING_CYCLE_1 (1<<X_AXIS)
+		#ifdef HOMING_CYCLE_2
+			#undef HOMING_CYCLE_2
+		#endif
+		
+		// redefine the defaults
+		#ifdef DEFAULTS_GENERIC
+			#undef DEFAULTS_GENERIC
+		#endif		
+		#define DEFAULTS_MIDTBOT		
+		
+		#define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)	
+		
+		#define SERVO_PEN_PIN 					GPIO_NUM_27
+		
+		#ifdef DEFAULTS_GENERIC 
+			#undef DEFAULTS_GENERIC  // undefine generic then define each default below
+		#endif
+		
+		// defaults
+		#define DEFAULT_STEP_PULSE_MICROSECONDS 3 
+		#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // stay on
+		
+		#define DEFAULT_STEPPING_INVERT_MASK 0 // uint8_t
+		#define DEFAULT_DIRECTION_INVERT_MASK 2 // uint8_t
+		#define DEFAULT_INVERT_ST_ENABLE 0 // boolean
+		#define DEFAULT_INVERT_LIMIT_PINS 1 // boolean
+		#define DEFAULT_INVERT_PROBE_PIN 0 // boolean 
+		
+		#define DEFAULT_STATUS_REPORT_MASK 1
+		
+		#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
+		#define DEFAULT_ARC_TOLERANCE 0.002 // mm
+		#define DEFAULT_REPORT_INCHES 0 // false
+		
+		#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
+		#define DEFAULT_HARD_LIMIT_ENABLE 0  // false
+		
+		#define DEFAULT_HOMING_ENABLE 1  
+		#define DEFAULT_HOMING_DIR_MASK 1 
+		#define DEFAULT_HOMING_FEED_RATE 200.0 // mm/min
+		#define DEFAULT_HOMING_SEEK_RATE 1000.0 // mm/min
+		#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
+		#define DEFAULT_HOMING_PULLOFF 3.0 // mm
+
+		#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
+		#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
+		
+		#define DEFAULT_LASER_MODE 0 // false
+		
+		#define DEFAULT_X_STEPS_PER_MM 100.0
+		#define DEFAULT_Y_STEPS_PER_MM 100.0
+		#define DEFAULT_Z_STEPS_PER_MM 100.0 // This is percent in servo mode
+		
+		#define DEFAULT_X_MAX_RATE 8000.0 // mm/min
+		#define DEFAULT_Y_MAX_RATE 8000.0 // mm/min
+		#define DEFAULT_Z_MAX_RATE 5000.0 // mm/min
+		
+		#define DEFAULT_X_ACCELERATION (200.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+		#define DEFAULT_Y_ACCELERATION (200.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+		#define DEFAULT_Z_ACCELERATION (100.0*60*60) 
+		
+		#define DEFAULT_X_MAX_TRAVEL 50.0 // mm NOTE: Must be a positive value.
+		#define DEFAULT_Y_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
+		#define DEFAULT_Z_MAX_TRAVEL 100.0 // This is percent in servo mode
+		
+		
+#endif
+
+#ifdef CPU_MAP_POLAR_COASTER  // The Buildlog.net pen polar coaster controller V1
+		#define CPU_MAP_NAME "CPU_MAP_POLAR_COASTER"
+
+		#define X_STEP_PIN      GPIO_NUM_15
+		#define Y_STEP_PIN      GPIO_NUM_2
+		#define X_DIRECTION_PIN   GPIO_NUM_25
+		#define Y_DIRECTION_PIN   GPIO_NUM_26
+		
+		#define STEPPERS_DISABLE_PIN GPIO_NUM_17
+		
+		#define X_LIMIT_PIN      	GPIO_NUM_4
+		#define LIMIT_MASK      	B1
+		
+		#define CONTROL_RESET_PIN         GPIO_NUM_13
+		
+		// If SPINDLE_PWM_PIN is commented out, this frees up the pin, but Grbl will still
+		// use a virtual spindle. Do not comment out the other parameters for the spindle.
+		//#define SPINDLE_PWM_PIN    GPIO_NUM_17
+		#define SPINDLE_PWM_CHANNEL 0
+		// PWM Generator is based on 80,000,000 Hz counter
+		// Therefor the freq determines the resolution
+		// 80,000,000 / freq = max resolution
+		// For 5000 that is 80,000,000 / 5000 = 16000 
+		// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
+		#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
+		#define SPINDLE_PWM_BIT_PRECISION 8   // be sure to match this with SPINDLE_PWM_MAX_VALUE
+		#define SPINDLE_PWM_OFF_VALUE     0
+		#define SPINDLE_PWM_MAX_VALUE     255 // (2^SPINDLE_PWM_BIT_PRECISION)
+		
+		#ifndef SPINDLE_PWM_MIN_VALUE
+				#define SPINDLE_PWM_MIN_VALUE   1   // Must be greater than zero.
+		#endif
+		
+		#define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)	
+		
+		#define USE_PEN_SERVO
+		#define SERVO_PEN_PIN 					GPIO_NUM_16
+		
+		// redefine some stuff from config.h
+		#define HOMING_CYCLE_0 (1<<X_AXIS) // this 'bot only homes the X axis
+		#ifdef HOMING_CYCLE_1
+			#undef HOMING_CYCLE_1
+		#endif
+		#ifdef HOMING_CYCLE_2
+			#undef HOMING_CYCLE_2
+		#endif		
+		
+		#ifdef DEFAULTS_GENERIC 
+			#undef DEFAULTS_GENERIC  // undefine generic then define each default below
+		#endif
+		
+		// defaults
+		#define DEFAULT_STEP_PULSE_MICROSECONDS 3 
+		#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // stay on
+		
+		#define DEFAULT_STEPPING_INVERT_MASK 0 // uint8_t
+		#define DEFAULT_DIRECTION_INVERT_MASK 2 // uint8_t
+		#define DEFAULT_INVERT_ST_ENABLE 0 // boolean
+		#define DEFAULT_INVERT_LIMIT_PINS 1 // boolean
+		#define DEFAULT_INVERT_PROBE_PIN 0 // boolean 
+		
+		#define DEFAULT_STATUS_REPORT_MASK 1
+		
+		#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
+		#define DEFAULT_ARC_TOLERANCE 0.002 // mm
+		#define DEFAULT_REPORT_INCHES 0 // false
+		
+		#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
+		#define DEFAULT_HARD_LIMIT_ENABLE 0  // false
+		
+		#define DEFAULT_HOMING_ENABLE 1  
+		#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir Z, negative X,Y
+		#define DEFAULT_HOMING_FEED_RATE 200.0 // mm/min
+		#define DEFAULT_HOMING_SEEK_RATE 1000.0 // mm/min
+		#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
+		#define DEFAULT_HOMING_PULLOFF 3.0 // mm
+
+		#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
+		#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
+		
+		#define DEFAULT_LASER_MODE 0 // false
+		
+		#define DEFAULT_X_STEPS_PER_MM 200.0
+		#define DEFAULT_Y_STEPS_PER_MM 71.111
+		#define DEFAULT_Z_STEPS_PER_MM 100.0 // This is percent in servo mode
+		
+		#define DEFAULT_X_MAX_RATE 5000.0 // mm/min
+		#define DEFAULT_Y_MAX_RATE 15000.0 // mm/min
+		#define DEFAULT_Z_MAX_RATE 3000.0 // mm/min
+		
+		#define DEFAULT_X_ACCELERATION (200.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+		#define DEFAULT_Y_ACCELERATION (200.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+		#define DEFAULT_Z_ACCELERATION (50.0*60*60) 
+		
+		#define DEFAULT_X_MAX_TRAVEL 50.0 // mm NOTE: Must be a positive value.
+		#define DEFAULT_Y_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
+		#define DEFAULT_Z_MAX_TRAVEL 100.0 // This is percent in servo mode
+		
+		
+		
+#endif
+
+#ifdef CPU_MAP_SERVO_AXIS  // The Buildlog.net pen laser controller V1
+
+		// For pen mode be sure to uncomment #define USE_PEN_SERVO in config.h
+		// For solenoid  mode be sure to uncomment #define USE_PEN_SERVO in config.h
+		// For laser mode, you do not need to change anything
+		// Note: You can use all 3 modes at the same time if you want
+		
+		#define CPU_MAP_NAME "CPU_MAP_SERVO_AXIS"
+		
+		// Pick a board version
+		//#define PEN_LASER_V1
+		#define PEN_LASER_V2
+
+		#define X_STEP_PIN      GPIO_NUM_12
+		//#define Y_STEP_PIN      GPIO_NUM_14		
+		#define X_DIRECTION_PIN   GPIO_NUM_26
+		//#define Y_DIRECTION_PIN   GPIO_NUM_25  
+		
+		#define STEPPERS_DISABLE_PIN GPIO_NUM_13
+		
+		#ifdef PEN_LASER_V1
+			#define X_LIMIT_PIN      	GPIO_NUM_2
+		#endif
+		#ifdef PEN_LASER_V2
+			#define X_LIMIT_PIN      	GPIO_NUM_15
+		#endif		
+		#define Y_LIMIT_PIN      	GPIO_NUM_4
+		#define LIMIT_MASK      	B11				
+		
+		// If SPINDLE_PWM_PIN is commented out, this frees up the pin, but Grbl will still
+		// use a virtual spindle. Do not comment out the other parameters for the spindle.
+		#define SPINDLE_PWM_PIN    GPIO_NUM_17 // Laser PWM
+		#define SPINDLE_PWM_CHANNEL 0
+		// PWM Generator is based on 80,000,000 Hz counter
+		// Therefor the freq determines the resolution
+		// 80,000,000 / freq = max resolution
+		// For 5000 that is 80,000,000 / 5000 = 16000 
+		// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
+		#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
+		#define SPINDLE_PWM_BIT_PRECISION 8   // be sure to match this with SPINDLE_PWM_MAX_VALUE
+		#define SPINDLE_PWM_OFF_VALUE     0
+		#define SPINDLE_PWM_MAX_VALUE     255 // (2^SPINDLE_PWM_BIT_PRECISION)
+		
+		#ifndef SPINDLE_PWM_MIN_VALUE
+				#define SPINDLE_PWM_MIN_VALUE   1   // Must be greater than zero.
+		#endif
+		
+		#define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)			
+		
+		#define SERVO_Y_PIN 					GPIO_NUM_14
+		#define SERVO_Y_CHANNEL_NUM 	6
+		#define SERVO_Y_RANGE_MIN			0.0
+		#define SERVO_Y_RANGE_MAX			30.0
+		
+		#define SERVO_Z_PIN 					GPIO_NUM_27
+		#define SERVO_Z_CHANNEL_NUM 	5
+		#define SERVO_Z_RANGE_MIN			0.0
+		#define SERVO_Z_RANGE_MAX			20.0
+		
+		
+		#ifdef DEFAULTS_GENERIC 
+			#undef DEFAULTS_GENERIC  // undefine generic then define each default below
+		#endif
+		
+		// defaults
+		#define DEFAULT_STEP_PULSE_MICROSECONDS 3 
+		#define DEFAULT_STEPPER_IDLE_LOCK_TIME 250 // stay on
+		
+		#define DEFAULT_STEPPING_INVERT_MASK 0 // uint8_t
+		#define DEFAULT_DIRECTION_INVERT_MASK 0 // uint8_t
+		#define DEFAULT_INVERT_ST_ENABLE 0 // boolean
+		#define DEFAULT_INVERT_LIMIT_PINS 1 // boolean
+		#define DEFAULT_INVERT_PROBE_PIN 0 // boolean 
+		
+		#define DEFAULT_STATUS_REPORT_MASK 1
+		
+		#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
+		#define DEFAULT_ARC_TOLERANCE 0.002 // mm
+		#define DEFAULT_REPORT_INCHES 0 // false
+		
+		#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
+		#define DEFAULT_HARD_LIMIT_ENABLE 0  // false
+		
+		#define DEFAULT_HOMING_ENABLE 0  
+		#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir Z, negative X,Y
+		#define DEFAULT_HOMING_FEED_RATE 200.0 // mm/min
+		#define DEFAULT_HOMING_SEEK_RATE 1000.0 // mm/min
+		#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
+		#define DEFAULT_HOMING_PULLOFF 3.0 // mm
+
+		#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
+		#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
+		
+		#define DEFAULT_LASER_MODE 0 // false
+		
+		#define DEFAULT_X_STEPS_PER_MM 40      // half turn on a stepper
+		#define DEFAULT_Y_STEPS_PER_MM 100.0  // default calibration value
+		#define DEFAULT_Z_STEPS_PER_MM 100.0 // default calibration value
+		
+		#define DEFAULT_X_MAX_RATE 2000.0 // mm/min
+		#define DEFAULT_Y_MAX_RATE 2000.0 // mm/min
+		#define DEFAULT_Z_MAX_RATE 2000.0 // mm/min
+		
+		#define DEFAULT_X_ACCELERATION (50.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+		#define DEFAULT_Y_ACCELERATION (50.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+		#define DEFAULT_Z_ACCELERATION (50.0*60*60) 
+		
+		#define DEFAULT_X_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
+		#define DEFAULT_Y_MAX_TRAVEL 100.0 // default calibration value
+		#define DEFAULT_Z_MAX_TRAVEL 100.0 // default calibration value
+		
+		
+#endif
+
+
+#ifdef CPU_MAP_SM // String art machine definition
+	
+
+		#define X_STEP_PIN      GPIO_NUM_12
+		#define X_DIRECTION_PIN   GPIO_NUM_26
+		
+		#define STEPPERS_DISABLE_PIN GPIO_NUM_13		
+		
+		#define X_LIMIT_PIN      	GPIO_NUM_15
+		#define LIMIT_MASK      	B1			
+		
+		// If SPINDLE_PWM_PIN is commented out, this frees up the pin, but Grbl will still
+		// use a virtual spindle. Do not comment out the other parameters for the spindle.
+		#define SPINDLE_PWM_PIN    GPIO_NUM_17 // Laser PWM
+		#define SPINDLE_PWM_CHANNEL 0
+		// PWM Generator is based on 80,000,000 Hz counter
+		// Therefor the freq determines the resolution
+		// 80,000,000 / freq = max resolution
+		// For 5000 that is 80,000,000 / 5000 = 16000 
+		// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
+		#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
+		#define SPINDLE_PWM_BIT_PRECISION 8   // be sure to match this with SPINDLE_PWM_MAX_VALUE
+		#define SPINDLE_PWM_OFF_VALUE     0
+		#define SPINDLE_PWM_MAX_VALUE     255 // (2^SPINDLE_PWM_BIT_PRECISION)
+		
+		#ifndef SPINDLE_PWM_MIN_VALUE
+				#define SPINDLE_PWM_MIN_VALUE   1   // Must be greater than zero.
+		#endif
+		
+		#define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)			
+		
+		// define Y and Z as servos
+		#define USE_SERVO_AXES
+		#define SERVO_Y_PIN 					GPIO_NUM_27
+		#define SERVO_Y_CHANNEL_NUM 	6
+		#define SERVO_Y_RANGE_MIN			0.0
+		#define SERVO_Y_RANGE_MAX			20.0
+		
+		#define SERVO_Z_PIN 					GPIO_NUM_14
+		#define SERVO_Z_CHANNEL_NUM 	5
+		#define SERVO_Z_RANGE_MIN			0.0
+		#define SERVO_Z_RANGE_MAX			28.0		
+		
+		// define the control pins
+		//#define CONTROL_RESET_PIN         GPIO_NUM_36  // needs external pullup
+		#define CONTROL_FEED_HOLD_PIN     GPIO_NUM_34  // needs external pullup
+		#define CONTROL_CYCLE_START_PIN   GPIO_NUM_39  // needs external pullup
+		
+		// change some things that may have been defined in config.h
+		#ifndef IGNORE_CONTROL_PINS
+			#define IGNORE_CONTROL_PINS
+		#endif
+		#ifdef INVERT_CONTROL_PIN_MASK
+			#undef INVERT_CONTROL_PIN_MASK
+		#endif
+		#define INVERT_CONTROL_PIN_MASK   B1100
+		
+
+		// clear any default homings and set X as the only one
+		#ifdef HOMING_CYCLE_0
+			#undef HOMING_CYCLE_0
+		#endif
+		#define HOMING_CYCLE_0 (1<<X_AXIS) 
+		#ifdef HOMING_CYCLE_1
+			#undef HOMING_CYCLE_1
+		#endif
+		#ifdef HOMING_CYCLE_2
+			#undef HOMING_CYCLE_2
+		#endif		
+				
+		#ifdef DEFAULTS_GENERIC 
+			#undef DEFAULTS_GENERIC  // undefine generic then define each default below
+		#endif
+		
+		// defaults
+		#define DEFAULT_STEP_PULSE_MICROSECONDS 3 
+		#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // stay on
+		
+		#define DEFAULT_STEPPING_INVERT_MASK 0 // uint8_t
+		#define DEFAULT_DIRECTION_INVERT_MASK 6 // Y and Z need to be inverted
+		#define DEFAULT_INVERT_ST_ENABLE 0 // boolean
+		#define DEFAULT_INVERT_LIMIT_PINS 1 // boolean
+		#define DEFAULT_INVERT_PROBE_PIN 0 // boolean 
+		
+		#define DEFAULT_STATUS_REPORT_MASK 1
+		
+		#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
+		#define DEFAULT_ARC_TOLERANCE 0.002 // mm
+		#define DEFAULT_REPORT_INCHES 0 // false
+		
+		#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
+		#define DEFAULT_HARD_LIMIT_ENABLE 0  // false
+		
+		#define DEFAULT_HOMING_ENABLE 1  
+		#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir Z, negative X,Y
+		#define DEFAULT_HOMING_FEED_RATE 25.0 // mm/min
+		#define DEFAULT_HOMING_SEEK_RATE 600.0 // mm/min
+		#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
+		#define DEFAULT_HOMING_PULLOFF 1.0 // mm
+
+		#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
+		#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
+		
+		#define DEFAULT_LASER_MODE 0 // false
+		
+		#define DEFAULT_X_STEPS_PER_MM 300.0
+		#define DEFAULT_Y_STEPS_PER_MM 100.0   // This is percent in servo mode...used for calibration
+		#define DEFAULT_Z_STEPS_PER_MM 100.0 // This is percent in servo mode...used for calibration
+		
+		#define DEFAULT_X_MAX_RATE 8000.0 // mm/min
+		#define DEFAULT_Y_MAX_RATE 4000.0 // mm/min
+		#define DEFAULT_Z_MAX_RATE 4000.0 // mm/min
+		
+		#define DEFAULT_X_ACCELERATION (150.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+		#define DEFAULT_Y_ACCELERATION (200.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+		#define DEFAULT_Z_ACCELERATION (200.0*60*60) 
+		
+		#define DEFAULT_X_MAX_TRAVEL 100000.0 // mm NOTE: Must be a positive value.
+		#define DEFAULT_Y_MAX_TRAVEL 100.0 // This is percent in servo mode...used for calibration
+		#define DEFAULT_Z_MAX_TRAVEL 100.0 // This is percent in servo mode...used for calibration
+		
+		
+#endif
+
+#ifdef CPU_MAP_MPCNC_V1P2
+	// This is the CPU Map for the Buildlog.net MPCNC controller
+	
+		#define CPU_MAP_NAME "CPU_MAP_MPCNC_V1P2"
+	
+		// switch to the correct default settings
+		#ifdef DEFAULTS_GENERIC
+			#undef DEFAULTS_GENERIC
+		#endif
+		#define DEFAULTS_MPCNC
+		
+	
+		#define USE_GANGED_AXES // allow two motors on an axis 
+	  
+		#define X_STEP_PIN      GPIO_NUM_12
+		#define X_STEP_B_PIN    GPIO_NUM_22	 // ganged motor
+		#define X_AXIS_SQUARING
+		
+		#define Y_STEP_PIN      GPIO_NUM_14
+		#define Y_STEP_B_PIN    GPIO_NUM_21  // ganged motor
+		#define Y_AXIS_SQUARING
+		
+		#define Z_STEP_PIN      GPIO_NUM_27
+		
+		#define X_DIRECTION_PIN   GPIO_NUM_26
+		#define Y_DIRECTION_PIN   GPIO_NUM_25  
+		#define Z_DIRECTION_PIN   GPIO_NUM_33 
+		
+		// OK to comment out to use pin for other features
+		#define STEPPERS_DISABLE_PIN GPIO_NUM_13				
+				
+		// Note: if you use PWM rather than relay, you could map GPIO_NUM_2 to mist or flood 
+		//#define USE_SPINDLE_RELAY
+		
+		#ifdef USE_SPINDLE_RELAY		
+			#define SPINDLE_PWM_PIN    GPIO_NUM_2
+		#else
+			#define SPINDLE_PWM_PIN    GPIO_NUM_16
+			#define SPINDLE_ENABLE_PIN	GPIO_NUM_32
+		#endif
+		
+		#define SPINDLE_PWM_CHANNEL 0
+		// PWM Generator is based on 80,000,000 Hz counter
+		// Therefor the freq determines the resolution
+		// 80,000,000 / freq = max resolution
+		// For 5000 that is 80,000,000 / 5000 = 16000 
+		// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
+		#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
+		#define SPINDLE_PWM_BIT_PRECISION 8   // be sure to match this with SPINDLE_PWM_MAX_VALUE
+		#define SPINDLE_PWM_OFF_VALUE     0
+		#define SPINDLE_PWM_MAX_VALUE     255 // (2^SPINDLE_PWM_BIT_PRECISION)
+		
+		#ifndef SPINDLE_PWM_MIN_VALUE
+				#define SPINDLE_PWM_MIN_VALUE   1   // Must be greater than zero.
+		#endif
+		
+		#define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)		
+		
+		// Note: Only uncomment this if USE_SPINDLE_RELAY is commented out.
+		// Relay can be used for Spindle or Coolant
+		//#define COOLANT_FLOOD_PIN 	GPIO_NUM_2
+		
+		#define X_LIMIT_PIN      	GPIO_NUM_17 
+		#define Y_LIMIT_PIN      	GPIO_NUM_4  
+		#define Z_LIMIT_PIN     	GPIO_NUM_15 	
+		#define LIMIT_MASK      	B111
+		
+		#ifndef ENABLE_SOFTWARE_DEBOUNCE   // V1P2 does not have R/C filters
+			#define ENABLE_SOFTWARE_DEBOUNCE
+		#endif
+		
+		#define PROBE_PIN       	GPIO_NUM_35  
+		
+		// The default value in config.h is wrong for this controller
+		#ifdef INVERT_CONTROL_PIN_MASK
+			#undef INVERT_CONTROL_PIN_MASK			
+		#endif
+		
+		#define INVERT_CONTROL_PIN_MASK   B1110
+		
+		// Note: defualt is #define IGNORE_CONTROL_PINS in config.h
+		// uncomment to these lines to use them		
+		#ifdef IGNORE_CONTROL_PINS
+			#undef IGNORE_CONTROL_PINS
+		#endif
+		
+		
+		
+		
+		#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    		
+		
+#endif
+
+#ifdef CPU_MAP_MPCNC_V1P1
+	// This is the CPU Map for the Buildlog.net MPCNC controller
+	
+		#define CPU_MAP_NAME "CPU_MAP_MPCNC_V1P1"
+	
+		// switch to the correct default settings
+		#ifdef DEFAULTS_GENERIC
+			#undef DEFAULTS_GENERIC
+		#endif
+		#define DEFAULTS_MPCNC
+		
+	
+		#define USE_GANGED_AXES // allow two motors on an axis 
+	  
+		#define X_STEP_PIN      GPIO_NUM_12
+		#define X_STEP_B_PIN    GPIO_NUM_22	 // ganged motor
+		#define X_AXIS_SQUARING
+		
+		#define Y_STEP_PIN      GPIO_NUM_14
+		#define Y_STEP_B_PIN    GPIO_NUM_21  // ganged motor
+		#define Y_AXIS_SQUARING
+		
+		#define Z_STEP_PIN      GPIO_NUM_27
+		
+		#define X_DIRECTION_PIN   GPIO_NUM_26
+		#define Y_DIRECTION_PIN   GPIO_NUM_25  
+		#define Z_DIRECTION_PIN   GPIO_NUM_33 
+		
+		// OK to comment out to use pin for other features
+		#define STEPPERS_DISABLE_PIN GPIO_NUM_13		
+		
+				
+		// Note: if you use PWM rather than relay, you could map GPIO_NUM_17 to mist or flood 
+		#define USE_SPINDLE_RELAY
+		
+		#ifdef USE_SPINDLE_RELAY		
+			#define SPINDLE_PWM_PIN    GPIO_NUM_17
+		#else
+			#define SPINDLE_PWM_PIN    GPIO_NUM_16
+			#define SPINDLE_ENABLE_PIN	GPIO_NUM_32
+		#endif
+		
+		#define SPINDLE_PWM_CHANNEL 0
+		// PWM Generator is based on 80,000,000 Hz counter
+		// Therefor the freq determines the resolution
+		// 80,000,000 / freq = max resolution
+		// For 5000 that is 80,000,000 / 5000 = 16000 
+		// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
+		#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
+		#define SPINDLE_PWM_BIT_PRECISION 8   // be sure to match this with SPINDLE_PWM_MAX_VALUE
+		#define SPINDLE_PWM_OFF_VALUE     0
+		#define SPINDLE_PWM_MAX_VALUE     255 // (2^SPINDLE_PWM_BIT_PRECISION)
+		
+		#ifndef SPINDLE_PWM_MIN_VALUE
+				#define SPINDLE_PWM_MIN_VALUE   1   // Must be greater than zero.
+		#endif
+		
+		#define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)		
+		
+		// Note: Only uncomment this if USE_SPINDLE_RELAY is commented out.
+		// Relay can be used for Spindle or Coolant
+		//#define COOLANT_FLOOD_PIN 	GPIO_NUM_17
+		
+		#define X_LIMIT_PIN      	GPIO_NUM_34 
+		#define Y_LIMIT_PIN      	GPIO_NUM_4  
+		#define Z_LIMIT_PIN     	GPIO_NUM_15 	
+		#define LIMIT_MASK      	B111
+		
+		#define PROBE_PIN       	GPIO_NUM_35  
+		
+		// The default value in config.h is wrong for this controller
+		#ifdef INVERT_CONTROL_PIN_MASK
+			#undef INVERT_CONTROL_PIN_MASK			
+		#endif
+		
+		#define INVERT_CONTROL_PIN_MASK   B1100
+		
+		// Note: check the #define IGNORE_CONTROL_PINS is the way you want in config.h
+		//#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    		
+		
+#endif
+
+#ifdef CPU_MAP_LOWRIDER // !!!!!!!!!!!!!!!!! Warning: Untested !!!!!!!!!!!!!!!!! //
+	// This is the CPU Map for the Buildlog.net MPCNC controller
+	// used in lowrider mode. Low rider has (2) Y and Z and one X motor
+	// These will not match the silkscreen or schematic descriptions	
+		#define CPU_MAP_NAME "CPU_MAP_LOWRIDER"
+	
+	
+		#define USE_GANGED_AXES // allow two motors on an axis 
+	  
+		#define X_STEP_PIN      GPIO_NUM_27    	// use Z labeled connector
+		#define X_DIRECTION_PIN   GPIO_NUM_33 	// use Z labeled connector
+		
+		#define Y_STEP_PIN      GPIO_NUM_14
+		#define Y_STEP_B_PIN    GPIO_NUM_21  	// ganged motor
+		#define Y_DIRECTION_PIN   GPIO_NUM_25 
+		#define Y_AXIS_SQUARING
+		
+		#define Z_STEP_PIN      GPIO_NUM_12  	// use X labeled connector
+		#define Z_STEP_B_PIN    GPIO_NUM_22		// use X labeled connector
+		#define Z_DIRECTION_PIN   GPIO_NUM_26 	// use X labeled connector
+		#define Z_AXIS_SQUARING
+		
+		
+		// OK to comment out to use pin for other features
+		#define STEPPERS_DISABLE_PIN GPIO_NUM_13		
+		
+				
+		// Note: if you use PWM rather than relay, you could map GPIO_NUM_17 to mist or flood 
+		#define USE_SPINDLE_RELAY
+		
+		#ifdef USE_SPINDLE_RELAY		
+			#define SPINDLE_PWM_PIN    GPIO_NUM_17
+		#else
+			#define SPINDLE_PWM_PIN    GPIO_NUM_16
+			#define SPINDLE_ENABLE_PIN	GPIO_NUM_32
+		#endif
+		
+		#define SPINDLE_PWM_CHANNEL 0
+		// PWM Generator is based on 80,000,000 Hz counter
+		// Therefor the freq determines the resolution
+		// 80,000,000 / freq = max resolution
+		// For 5000 that is 80,000,000 / 5000 = 16000 
+		// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
+		#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
+		#define SPINDLE_PWM_BIT_PRECISION 8   // be sure to match this with SPINDLE_PWM_MAX_VALUE
+		#define SPINDLE_PWM_OFF_VALUE     0
+		#define SPINDLE_PWM_MAX_VALUE     255 // (2^SPINDLE_PWM_BIT_PRECISION)
+		
+		#ifndef SPINDLE_PWM_MIN_VALUE
+				#define SPINDLE_PWM_MIN_VALUE   1   // Must be greater than zero.
+		#endif
+		
+		#define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)		
+		
+		// Note: Only uncomment this if USE_SPINDLE_RELAY is commented out.
+		// Relay can be used for Spindle or Coolant
+		//#define COOLANT_FLOOD_PIN 	GPIO_NUM_17
+		
+		#define X_LIMIT_PIN      	GPIO_NUM_15  
+		#define Y_LIMIT_PIN      	GPIO_NUM_4  
+		#define Z_LIMIT_PIN     	GPIO_NUM_2 	
+		#define LIMIT_MASK      	B111
+		
+		#define PROBE_PIN       	GPIO_NUM_35  
+		
+		// The default value in config.h is wrong for this controller
+		#ifdef INVERT_CONTROL_PIN_MASK
+			#undef INVERT_CONTROL_PIN_MASK			
+		#endif
+		
+		#define INVERT_CONTROL_PIN_MASK   B1110
+		
+		// Note: check the #define IGNORE_CONTROL_PINS is the way you want in config.h
+		#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    		
+		
+#endif
+
+#ifdef CPU_MAP_TMC2130_PEN
+		
+		#define CPU_MAP_NAME "ESP32_TMC2130_PEN"
+		
+		#define USE_RMT_STEPS
+		
+		#define USE_TMC2130 // make sure you assign chip select pins to each axis
+		
+		#define X_STEP_PIN      	GPIO_NUM_12
+		#define X_DIRECTION_PIN   	GPIO_NUM_26
+		#define X_CS_PIN    		GPIO_NUM_17  //chip select
+		#define X_RMT_CHANNEL		0		
+		
+		#define Y_STEP_PIN      	GPIO_NUM_14   
+		#define Y_DIRECTION_PIN   	GPIO_NUM_25  
+		#define Y_CS_PIN    		GPIO_NUM_16  //chip select	
+		#define Y_RMT_CHANNEL		1		
+		
+		// OK to comment out to use pin for other features
+		#define STEPPERS_DISABLE_PIN GPIO_NUM_13		
+		
+		// *** the flood coolant feature code is activated by defining this pins
+		// *** Comment it out to use the pin for other features
+		//#define COOLANT_FLOOD_PIN 	GPIO_NUM_16			
+		//#define COOLANT_MIST_PIN   	GPIO_NUM_21
+		
+		// If SPINDLE_PWM_PIN is commented out, this frees up the pin, but Grbl will still
+		// use a virtual spindle. Do not comment out the other parameters for the spindle.
+		//#define SPINDLE_PWM_PIN    GPIO_NUM_17 
+		#define SPINDLE_PWM_CHANNEL 0
+		// PWM Generator is based on 80,000,000 Hz counter
+		// Therefor the freq determines the resolution
+		// 80,000,000 / freq = max resolution
+		// For 5000 that is 80,000,000 / 5000 = 16000 
+		// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
+		#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
+		#define SPINDLE_PWM_BIT_PRECISION 8   // be sure to match this with SPINDLE_PWM_MAX_VALUE
+		#define SPINDLE_PWM_OFF_VALUE     0
+		#define SPINDLE_PWM_MAX_VALUE     255 // (2^SPINDLE_PWM_BIT_PRECISION)
+		
+		#ifndef SPINDLE_PWM_MIN_VALUE
+				#define SPINDLE_PWM_MIN_VALUE   1   // Must be greater than zero.
+		#endif
+		
+		#define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)		
+		
+		#define X_LIMIT_PIN      	GPIO_NUM_2  
+		#define Y_LIMIT_PIN      	GPIO_NUM_4  
+		#define LIMIT_MASK      	B11
+		
+#endif
+
+
+
+	// ================= common to all machines ================================
+	
+	// These are some ESP32 CPU Settings that the program needs, but are generally not changed
+		#define F_TIMERS	80000000    // a reference to the speed of ESP32 timers
+		#define F_STEPPER_TIMER 20000000  // frequency of step pulse timer
+		#define STEPPER_OFF_TIMER_PRESCALE 8 // gives a frequency of 10MHz
+		#define STEPPER_OFF_PERIOD_uSEC  3  // each tick is
+		
+		#define STEP_PULSE_MIN 2   // uSeconds
+		#define STEP_PULSE_MAX 10  // uSeconds
+		
+		// =============== Don't change or comment these out ======================
+		// They are for legacy purposes and will not affect your I/O 
+		
+		#define X_STEP_BIT    0  // don't change
+		#define Y_STEP_BIT    1  // don't change
+		#define Z_STEP_BIT    2  // don't change
+		#define STEP_MASK       B111 // don't change
+		
+		#define X_DIRECTION_BIT   0 // don't change
+		#define Y_DIRECTION_BIT   1  // don't change
+		#define Z_DIRECTION_BIT   2  // don't change
+		
+		#define X_LIMIT_BIT      	0  // don't change
+		#define Y_LIMIT_BIT      	1  // don't change
+		#define Z_LIMIT_BIT     	2  // don't change
+		
+		
+		#define PROBE_MASK        1 // don't change		
+		
+		#define CONTROL_MASK      				B1111  	// don't change
+		
+		// =======================================================================
+		
+		
+#endif
diff --git a/SchemaKiCad/CRA4_GRBL_ESP32/CRA4_GRBL_ESP32-cache.lib b/SchemaKiCad/CRA4_GRBL_ESP32/CRA4_GRBL_ESP32-cache.lib
index a767cb5..dfda69a 100644
--- a/SchemaKiCad/CRA4_GRBL_ESP32/CRA4_GRBL_ESP32-cache.lib
+++ b/SchemaKiCad/CRA4_GRBL_ESP32/CRA4_GRBL_ESP32-cache.lib
@@ -117,4 +117,32 @@ X IO33 9 600 -900 100 L 50 50 1 1 B
 ENDDRAW
 ENDDEF
 #
+# power_+36V
+#
+DEF power_+36V #PWR 0 0 Y Y 1 F P
+F0 "#PWR" 0 -150 50 H I C CNN
+F1 "power_+36V" 0 140 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+P 2 0 1 0 -30 50 0 100 N
+P 2 0 1 0 0 0 0 100 N
+P 2 0 1 0 0 100 30 50 N
+X +36V 1 0 0 0 U 50 50 1 1 W N
+ENDDRAW
+ENDDEF
+#
+# power_GND
+#
+DEF power_GND #PWR 0 0 Y Y 1 F P
+F0 "#PWR" 0 -250 50 H I C CNN
+F1 "power_GND" 0 -150 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+P 6 0 1 0 0 0 0 -50 50 -50 0 -100 -50 -50 0 -50 N
+X GND 1 0 0 0 D 50 50 1 1 W N
+ENDDRAW
+ENDDEF
+#
 #End Library
diff --git a/SchemaKiCad/CRA4_GRBL_ESP32/CRA4_GRBL_ESP32.pro b/SchemaKiCad/CRA4_GRBL_ESP32/CRA4_GRBL_ESP32.pro
index 152769c..84c5bec 100644
--- a/SchemaKiCad/CRA4_GRBL_ESP32/CRA4_GRBL_ESP32.pro
+++ b/SchemaKiCad/CRA4_GRBL_ESP32/CRA4_GRBL_ESP32.pro
@@ -1,4 +1,4 @@
-update=22/05/2015 07:44:53
+update=mer. 28 août 2019 16:00:27 CEST
 version=1
 last_client=kicad
 [general]
@@ -31,3 +31,13 @@ NetIExt=net
 version=1
 LibDir=
 [eeschema/libraries]
+[schematic_editor]
+version=1
+PageLayoutDescrFile=
+PlotDirectoryName=
+SubpartIdSeparator=0
+SubpartFirstId=65
+NetFmtName=
+SpiceAjustPassiveValues=0
+LabSize=50
+ERC_TestSimilarLabels=1
diff --git a/SchemaKiCad/CRA4_GRBL_ESP32/CRA4_GRBL_ESP32.sch-bak b/SchemaKiCad/CRA4_GRBL_ESP32/CRA4_GRBL_ESP32.sch-bak
index fff8c68..7b689e1 100644
--- a/SchemaKiCad/CRA4_GRBL_ESP32/CRA4_GRBL_ESP32.sch-bak
+++ b/SchemaKiCad/CRA4_GRBL_ESP32/CRA4_GRBL_ESP32.sch-bak
@@ -1,4 +1,42 @@
-EESchema Schematic File Version 2
-EELAYER 25 0
+EESchema Schematic File Version 4
+EELAYER 30 0
 EELAYER END
+$Descr A4 11693 8268
+encoding utf-8
+Sheet 1 2
+Title ""
+Date ""
+Rev ""
+Comp ""
+Comment1 ""
+Comment2 ""
+Comment3 ""
+Comment4 ""
+$EndDescr
+$Comp
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+U 1 1 5D667BA3
+P 1500 2350
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+F 1 "ESP32-WROOM-32D" H 1500 3840 50  0000 C CNN
+F 2 "RF_Module:ESP32-WROOM-32" H 1500 850 50  0001 C CNN
+F 3 "https://www.espressif.com/sites/default/files/documentation/esp32-wroom-32d_esp32-wroom-32u_datasheet_en.pdf" H 1200 2400 50  0001 C CNN
+	1    1500 2350
+	1    0    0    -1  
+$EndComp
+$Sheet
+S 2700 1150 1100 1350
+U 5D66B5B1
+F0 "Motor and driver" 50
+F1 "MotorDriver.sch" 50
+F2 "Enable" I L 2700 1250 50 
+F3 "GND" I R 3800 1250 50 
+F4 "DirX" I L 2700 1400 50 
+F5 "StepX" I L 2700 1500 50 
+F6 "DirY" I L 2700 1650 50 
+F7 "StepY" I L 2700 1750 50 
+F8 "DirZ" I L 2700 1900 50 
+F9 "StepZ" I L 2700 2000 50 
+F10 "+33v(10-40v)" I R 3800 1400 50 
+$EndSheet
 $EndSCHEMATC
diff --git a/SchemaKiCad/CRA4_GRBL_ESP32/MotorDriver.sch b/SchemaKiCad/CRA4_GRBL_ESP32/MotorDriver.sch
index 93a8336..68b89c6 100644
--- a/SchemaKiCad/CRA4_GRBL_ESP32/MotorDriver.sch
+++ b/SchemaKiCad/CRA4_GRBL_ESP32/MotorDriver.sch
@@ -24,59 +24,248 @@ F 3 "" H 1700 2200 60  0001 C CNN
 	1    1700 2200
 	1    0    0    -1  
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-F 2 "" H 3450 2200 60  0001 C CNN
-F 3 "" H 3450 2200 60  0001 C CNN
-	1    3450 2200
-	1    0    0    -1  
-$EndComp
+Wire Wire Line
+	2300 1500 2450 1500
+Wire Wire Line
+	2450 1500 2450 1750
+Wire Wire Line
+	2450 2750 2300 2750
+Wire Wire Line
+	2300 1750 2450 1750
+Connection ~ 2450 1750
+Wire Wire Line
+	2450 1750 2450 2000
+Wire Wire Line
+	2300 2000 2450 2000
+Connection ~ 2450 2000
+Wire Wire Line
+	2450 2000 2450 2750
 $Comp
 L CRA4_GRBL_ESP32:TB6600StyleMotorDriver U3(Z)
 U 1 1 5D670FEB
-P 5150 2200
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-F 1 "TB6600StyleMotorDriver" H 5158 3081 60  0000 C CNN
-F 2 "" H 5150 2200 60  0001 C CNN
-F 3 "" H 5150 2200 60  0001 C CNN
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-U 1 1 5D671537
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-F 1 "Stepper_Motor_bipolar" H 7938 1783 50  0000 L CNN
-F 2 "" H 7760 1740 50  0001 C CNN
-F 3 "http://www.infineon.com/dgdl/Application-Note-TLE8110EE_driving_UniPolarStepperMotor_V1.1.pdf?fileId=db3a30431be39b97011be5d0aa0a00b0" H 7760 1740 50  0001 C CNN
-	1    7750 1750
+P 7500 2200
+F 0 "U3(Z)" H 7508 3187 60  0000 C CNN
+F 1 "TB6600StyleMotorDriver" H 7508 3081 60  0000 C CNN
+F 2 "" H 7500 2200 60  0001 C CNN
+F 3 "" H 7500 2200 60  0001 C CNN
+	1    7500 2200
 	1    0    0    -1  
 $EndComp
 $Comp
 L Motor:Stepper_Motor_bipolar M3(Z)
 U 1 1 5D67250B
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-F 2 "" H 8360 3090 50  0001 C CNN
-F 3 "http://www.infineon.com/dgdl/Application-Note-TLE8110EE_driving_UniPolarStepperMotor_V1.1.pdf?fileId=db3a30431be39b97011be5d0aa0a00b0" H 8360 3090 50  0001 C CNN
-	1    8350 3100
+P 8650 2600
+F 0 "M3(Z)" H 8838 2724 50  0000 L CNN
+F 1 "Stepper_Motor_bipolar" H 8838 2633 50  0000 L CNN
+F 2 "" H 8660 2590 50  0001 C CNN
+F 3 "http://www.infineon.com/dgdl/Application-Note-TLE8110EE_driving_UniPolarStepperMotor_V1.1.pdf?fileId=db3a30431be39b97011be5d0aa0a00b0" H 8660 2590 50  0001 C CNN
+	1    8650 2600
 	1    0    0    -1  
 $EndComp
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 L Motor:Stepper_Motor_bipolar M2(Y)
 U 1 1 5D671A5B
-P 8150 2500
-F 0 "M2(Y)" H 8338 2624 50  0000 L CNN
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-F 3 "http://www.infineon.com/dgdl/Application-Note-TLE8110EE_driving_UniPolarStepperMotor_V1.1.pdf?fileId=db3a30431be39b97011be5d0aa0a00b0" H 8160 2490 50  0001 C CNN
-	1    8150 2500
+P 5750 2600
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+F 1 "Stepper_Motor_bipolar" H 5938 2633 50  0000 L CNN
+F 2 "" H 5760 2590 50  0001 C CNN
+F 3 "http://www.infineon.com/dgdl/Application-Note-TLE8110EE_driving_UniPolarStepperMotor_V1.1.pdf?fileId=db3a30431be39b97011be5d0aa0a00b0" H 5760 2590 50  0001 C CNN
+	1    5750 2600
 	1    0    0    -1  
 $EndComp
+$Comp
+L CRA4_GRBL_ESP32:TB6600StyleMotorDriver U2(Y)
+U 1 1 5D670966
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+F 0 "U2(Y)" H 4608 3187 60  0000 C CNN
+F 1 "TB6600StyleMotorDriver" H 4608 3081 60  0000 C CNN
+F 2 "" H 4600 2200 60  0001 C CNN
+F 3 "" H 4600 2200 60  0001 C CNN
+	1    4600 2200
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
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+Wire Wire Line
+	5350 3050 5350 2750
+Wire Wire Line
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+Connection ~ 2450 2750
+Wire Wire Line
+	5350 2750 5350 2000
+Wire Wire Line
+	5350 1500 5200 1500
+Connection ~ 5350 2750
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+Connection ~ 5350 1750
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+Connection ~ 8250 2000
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+L power:GND #PWR?
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+	1    8350 3050
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+$EndComp
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+L power:+36V #PWR?
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 $EndSCHEMATC
diff --git a/SchemaKiCad/CRA4_GRBL_ESP32/MotorDriver.sch-bak b/SchemaKiCad/CRA4_GRBL_ESP32/MotorDriver.sch-bak
new file mode 100644
index 0000000..68b89c6
--- /dev/null
+++ b/SchemaKiCad/CRA4_GRBL_ESP32/MotorDriver.sch-bak
@@ -0,0 +1,271 @@
+EESchema Schematic File Version 4
+EELAYER 30 0
+EELAYER END
+$Descr A4 11693 8268
+encoding utf-8
+Sheet 2 2
+Title ""
+Date ""
+Rev ""
+Comp ""
+Comment1 ""
+Comment2 ""
+Comment3 ""
+Comment4 ""
+$EndDescr
+$Comp
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+F 3 "" H 1700 2200 60  0001 C CNN
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+$EndComp
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+Connection ~ 2450 2000
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+L CRA4_GRBL_ESP32:TB6600StyleMotorDriver U3(Z)
+U 1 1 5D670FEB
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+F 3 "" H 7500 2200 60  0001 C CNN
+	1    7500 2200
+	1    0    0    -1  
+$EndComp
+$Comp
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diff --git a/SchemaKiCad/CRA4_GRBL_ESP32/_autosave-MotorDriver.sch b/SchemaKiCad/CRA4_GRBL_ESP32/_autosave-MotorDriver.sch
new file mode 100644
index 0000000..2a0a43a
--- /dev/null
+++ b/SchemaKiCad/CRA4_GRBL_ESP32/_autosave-MotorDriver.sch
@@ -0,0 +1,282 @@
+EESchema Schematic File Version 4
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diff --git a/SchemaKiCad/outputTest.pdf b/SchemaKiCad/outputTest.pdf
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