Finally working as intended. There are some things to polish and one logic algorithm to write and a readme to make and a guide and … I still have to make many things, but it finally works for the first stage. I have had a lot of hardware tinkering (5h+) that wasnt logged because i didnt have wifi, but i had to solder a connector 10+ times for it to work, played with the cables in the box, and wrote some more things into the main library. One TMC2209 got accidentaly damaged (i honestly dont know how), but in a way that only makes switching directions nonfunctional . also the week before the last one, i made and designed the whole enclosure for the electronics and made major changes to the code, and also tested a lot. When testing in the field last week, the motors were squealing as if i were terturing them, and i accidentaly did (by giving them too much current), then i moved some cables in the box and the squealing magically stopped and never returned… The cables and other electronic parts must be ragebaiting me… Context for photos: The full setup is for testing, the long focal length is to see any trailing better than lower FLs, the box is the thing i talked about. The image is a 32s exposure brightened to see the stars better, made with the mount, Canon 1200D and a bresser 700/70 telescope. I cant see any trailing in there! (there is still a error that gives 1.3 degrees of error per day which im working on correcting rn.