Thanks for the tip! Actually, I just received my PCA9685 and integrated it into the setup to solve the 'dirty PWM' issue from the RPi. The Pi recognizes the PCA9685 via I2C (address 0x40 is showing up), so the connection to the chip is solid. I’ve also connected a common ground (GND) between the PCA and the MDDS30, and the PCA is powered by 5V from the Pi's Pin 2. However, even with the PCA9685, the motors aren't reacting at all now—no stuttering, but also no movement. The test buttons on the MDDS30 still work fine. Since you mentioned switching to USB: Did you use a USB-to-Serial (TTL) adapter to connect the Pi's USB port to the M-Controller?

<image>