diff --git a/src/Board.h b/src/Board.h
index 4c1de87..e30fef6 100644
--- a/src/Board.h
+++ b/src/Board.h
@@ -1,9 +1,9 @@
 #ifndef FARMBOT_BOARD_ID
 
-  //#define RAMPS_V14
+  #define RAMPS_V14
   //#define FARMDUINO_V10
   //#define FARMDUINO_V14
-  #define FARMDUINO_EXP_V20
+  //#define FARMDUINO_EXP_V20
 
 #else
 
diff --git a/src/Movement.cpp b/src/Movement.cpp
index 68c5d92..691a45f 100644
--- a/src/Movement.cpp
+++ b/src/Movement.cpp
@@ -602,21 +602,21 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
     if (axisX.isStepDone())
     {
       axisX.checkMovement();
-      //checkAxisVsEncoder(&axisX, &encoderX, &motorConsMissedSteps[0], &motorLastPosition[0], &motorConsEncoderLastPosition[0], &motorConsEncoderUseForPos[0], &motorConsMissedStepsDecay[0], &motorConsEncoderEnabled[0]);
+      checkAxisVsEncoder(&axisX, &encoderX, &motorConsMissedSteps[0], &motorLastPosition[0], &motorConsEncoderLastPosition[0], &motorConsEncoderUseForPos[0], &motorConsMissedStepsDecay[0], &motorConsEncoderEnabled[0]);
       axisX.resetStepDone();
     }
 
     if (axisY.isStepDone())
     {
       axisY.checkMovement();
-      //checkAxisVsEncoder(&axisY, &encoderY, &motorConsMissedSteps[1], &motorLastPosition[1], &motorConsEncoderLastPosition[1], &motorConsEncoderUseForPos[1], &motorConsMissedStepsDecay[1], &motorConsEncoderEnabled[1]);
+      checkAxisVsEncoder(&axisY, &encoderY, &motorConsMissedSteps[1], &motorLastPosition[1], &motorConsEncoderLastPosition[1], &motorConsEncoderUseForPos[1], &motorConsMissedStepsDecay[1], &motorConsEncoderEnabled[1]);
       axisY.resetStepDone();
     }
 
     if (axisZ.isStepDone())
     {
       axisZ.checkMovement();
-      //checkAxisVsEncoder(&axisZ, &encoderZ, &motorConsMissedSteps[2], &motorLastPosition[2], &motorConsEncoderLastPosition[2], &motorConsEncoderUseForPos[2], &motorConsMissedStepsDecay[2], &motorConsEncoderEnabled[2]);
+      checkAxisVsEncoder(&axisZ, &encoderZ, &motorConsMissedSteps[2], &motorLastPosition[2], &motorConsEncoderLastPosition[2], &motorConsEncoderUseForPos[2], &motorConsMissedStepsDecay[2], &motorConsEncoderEnabled[2]);
       axisZ.resetStepDone();
     }
 
@@ -1443,43 +1443,43 @@ void Movement::checkAxisVsEncoder(MovementAxis *axis, MovementEncoder *encoder,
   }
 #endif
 
-#if defined(FARMDUINO_EXP_V20)
-
-  /**/
-  /*
-  Serial.print("R99");
-  Serial.print(" XXX ");
-  Serial.print(" cur pos ");
-  Serial.print(axis->currentPosition());
-  Serial.print(" last pos ");
-  Serial.print(*lastPosition);
-  */
-
-  if (*encoderEnabled) {
-    if (axis->stallDetected()) {
-      // In case of stall detection, count this as a missed step
-      (*missedSteps)++;
-      axis->setCurrentPosition(*lastPosition);
-    }
-    else {
-      // Decrease amount of missed steps if there are no missed step
-      if (*missedSteps > 0)
-      {
-        (*missedSteps) -= (*encoderStepDecay);
-      }
-      *lastPosition = axis->currentPosition();
-      encoder->setPosition(axis->currentPosition());
-    }
-  }
-
-  //Serial.print(" new last pos ");
-  //Serial.print(*lastPosition);
-  //Serial.print(" en pos ");
-  //Serial.print(encoder->currentPosition());
-  //Serial.print("\r\n");
-
-
-#endif
+//#if defined(FARMDUINO_EXP_V20)
+//
+//  /**/
+//  /*
+//  Serial.print("R99");
+//  Serial.print(" XXX ");
+//  Serial.print(" cur pos ");
+//  Serial.print(axis->currentPosition());
+//  Serial.print(" last pos ");
+//  Serial.print(*lastPosition);
+//  */
+//
+//  if (*encoderEnabled) {
+//    if (axis->stallDetected()) {
+//      // In case of stall detection, count this as a missed step
+//      (*missedSteps)++;
+//      axis->setCurrentPosition(*lastPosition);
+//    }
+//    else {
+//      // Decrease amount of missed steps if there are no missed step
+//      if (*missedSteps > 0)
+//      {
+//        (*missedSteps) -= (*encoderStepDecay);
+//      }
+//      *lastPosition = axis->currentPosition();
+//      encoder->setPosition(axis->currentPosition());
+//    }
+//  }
+//
+//  //Serial.print(" new last pos ");
+//  //Serial.print(*lastPosition);
+//  //Serial.print(" en pos ");
+//  //Serial.print(encoder->currentPosition());
+//  //Serial.print("\r\n");
+//
+//
+//#endif
 
 }
 
diff --git a/src/TMC2130/TMC2130Stepper.cpp b/src/TMC2130/TMC2130Stepper.cpp
index 81fe7bc..60d4e4a 100644
--- a/src/TMC2130/TMC2130Stepper.cpp
+++ b/src/TMC2130/TMC2130Stepper.cpp
@@ -11,6 +11,8 @@ TMC2130Stepper::TMC2130Stepper(uint16_t pinEN, uint16_t pinDIR, uint16_t pinStep
 	_pinDIR(pinDIR)
 	{}
 
+
+
 void TMC2130Stepper::begin() {
 #ifdef TMC2130DEBUG
 	Serial.println("TMC2130 Stepper driver library");
diff --git a/src/TMC2130/TMC2130Stepper.h b/src/TMC2130/TMC2130Stepper.h
index eefea8b..4048e10 100644
--- a/src/TMC2130/TMC2130Stepper.h
+++ b/src/TMC2130/TMC2130Stepper.h
@@ -12,7 +12,8 @@ class TMC2130Stepper {
 		TMC2130Stepper(uint16_t pinCS);
 		TMC2130Stepper(uint16_t pinEN, uint16_t pinDIR, uint16_t pinStep, uint16_t pinCS);
 		TMC2130Stepper(uint16_t pinEN, uint16_t pinDIR, uint16_t pinStep, uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK);
-		void begin();
+    void changeChipSelect(uint16_t pinCS);
+    void begin();
 		void checkStatus();
 		void rms_current(uint16_t mA, float multiplier=0.5, float RS=0.11);
 		uint16_t rms_current();