That's interesting. What firmware are you running on the Teensy? The 3d printer software Klipper uses a similar architecture, and I'm very impressed at the gene

That's interesting. What firmware are you running on the Teensy? The 3d printer software Klipper uses a similar architecture, and I'm very impressed at the general purpose motion control firmware they've written for that project, to the point that I'm strongly considering using it in my own (non-3d-printer) projects. Did you write it yourself?