I released the bug fix for my galvo bug. I'm also deciding I need to move all the Zaxis code into the PRU. It isn't going to work being driven via IO in Linux. I was having it move up and down as a test and I tried using the BBB for other tasks and I found a major change in performance. I'm trying to understand how the FSL3D code might move. There's a home sensor on the Z axis, but it isn't the bottom, you need to step beyond it, but to find it I'm not sure of a good method of seeking it, without going beyond it, I'll have to break out my PRU coding skills again and just make it happen.