It seems my right stepper motor is skipping. Using the makertech's defeat firmware. I might need to increase the current a little bit.
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Edited: Mar 07, 2022
Skipping stepper motor
Skipping stepper motor
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It was not the stepper motor current. (though it was set very low and I set it to 700mA for x and y). It seems to catch on something sometimes. Not sure what that something is yet but it grinds the head to a halt causing the terrible skip