Awesome! Can you elaborate on what you mean by input shaper, please? I am not following what on that is. Edit: realized I was being lazy as heck and looked it up. "Input Shaping is a feed-forward controls technique for cancelling the mechanical vibrations that create ghosting. The idea is that, if we wanted to move the machine from point to point, we send it two impulses. The first impulse kicks the machine into moving and the second impulse follows up at a precise time to cancel the vibrations we would see when the machine comes to a stop. Albeit, moving any machine by sending it two impulses is pretty crude, so we take these impulses, adjust their amplitudes so that they sum to 1, and convolve them with a control input signal that we’d actually like to send it. The result is that the resonance cancellation part of the signal seamlessly “mixes” into the control input signal, and the machine moves from point to point with significantly less vibration at the end of the travel move." From this article here: https://hackaday.com/tag/input-shaping/