diff --git a/firmware/axl-stepper/src/axl b/firmware/axl-stepper/src/axl
index eb34931b0991d7c6e257968fe60af13b90b1f629..202c44ee96ff46f07823a6dc8b9b4bb13c0a575e 160000
--- a/firmware/axl-stepper/src/axl
+++ b/firmware/axl-stepper/src/axl
@@ -1 +1 @@
-Subproject commit eb34931b0991d7c6e257968fe60af13b90b1f629
+Subproject commit 202c44ee96ff46f07823a6dc8b9b4bb13c0a575e
diff --git a/firmware/axl-stepper/src/main.cpp b/firmware/axl-stepper/src/main.cpp
index 42cfefec4f5ede7641c3466b7fc9374f42f3e9d3..ae46f6bd60df3d75c743800ebc965efa63fbefe1 100644
--- a/firmware/axl-stepper/src/main.cpp
+++ b/firmware/axl-stepper/src/main.cpp
@@ -16,10 +16,9 @@
 //OSAP osap("axl-stepper_z-front-left");
 //OSAP osap("axl-stepper_z-rear-right");
 //OSAP osap("axl-stepper_z-front-right");
-OSAP osap("axl-stepper_y-left");
+//OSAP osap("axl-stepper_y-left");
 //OSAP osap("axl-stepper_y-right");
-//OSAP osap("axl-stepper_x");
-
+OSAP osap("axl-stepper_x");
 //OSAP osap("axl-stepper_e");
 
 VPort_ArduinoSerial vpUSBSerial(&osap, "arduinoUSBSerial", &Serial);
@@ -207,6 +206,32 @@ boolean axl_checkLimit(void){
 
 Endpoint homeEP(&osap, "home", onHomeData);
 
+// -------------------------------------------------------- 8: Precalcd-move-adder;
+
+EP_ONDATA_RESPONSES onPrecalculatedMoveData(uint8_t* data, uint16_t len){
+  ERRLIGHT_TOGGLE;
+  haltLightOnTime = millis() + 250;
+  move_t move;
+  // data[0] == AXL_MODE_QUEUE -> I think we designed this serialization so 
+  // that we could hit the same endpoint w/ multiple structures... 
+  uint16_t rptr = 1;
+  move.vi = ts_readFloat32(data, &rptr);
+  move.accel = ts_readFloat32(data, &rptr);
+  move.cruise = ts_readFloat32(data, &rptr);
+  move.vf = ts_readFloat32(data, &rptr);
+  move.distance = ts_readFloat32(data, &rptr);
+  for(uint8_t a = 0; a < AXL_NUM_DOF; a ++){
+    move.unitVector[a] = ts_readFloat32(data, &rptr);
+    move.endPos.axis[a] = ts_readFloat32(data, &rptr);
+  }
+  // and send it... 
+  axl_addMoveToQueue(move);
+  // OSAP::debug("move len " + String(move.distance));
+  return EP_ONDATA_REJECT;
+}
+
+Endpoint precalculatedMoveEP(&osap, "precalculatedMoves", onPrecalculatedMoveData);
+
 // -------------------------------------------------------- Arduino Setup 
 
 void setup() {
@@ -223,27 +248,28 @@ void setup() {
   // setup controller
   axl_setup();
   // ticker begin:
-  d51ClockUtils->start_ticker_a(AXL_TICKER_INTERVAL_US);
+  // d51ClockUtils->start_ticker_a(AXL_TICKER_INTERVAL_US);
 }
 
 // -------------------------------------------------------- Das Loop 
 
 uint32_t lastBlink = 0;
 uint32_t blinkInterval = 50; // ms 
+uint8_t dummy[128];
 
 void loop() {
   osap.loop();
   stepper_hw->dacRefresh();
-  axl_lazyLoop();
+  axl_netLoop(dummy);
   if(lastBlink + blinkInterval < millis()){
     lastBlink = millis();
     CLKLIGHT_TOGGLE;
     updateStatesEP();
     //axl_printHomeState();
   }
-  if(haltLightOnTime + 250 < millis()){
-    ERRLIGHT_OFF;
-  }
+  // if(haltLightOnTime + 250 < millis()){
+  //   ERRLIGHT_OFF;
+  // }
 }
 
 // -------------------------------------------------------- Small-Time Ops 
@@ -263,14 +289,17 @@ void axl_onPositionDelta(uint8_t axis, float delta){
   }
 }
 
-void TC0_Handler(void){
+// void TC0_Handler(void){
+//   DEBUG1PIN_ON;
+//   TC0->COUNT32.INTFLAG.bit.MC0 = 1;
+//   TC0->COUNT32.INTFLAG.bit.MC1 = 1;
+//   // run the loop, 
+//   axl_integrator();
+//   DEBUG1PIN_OFF;
+// }
+
+void ucBusDrop_onRxISR(void){
   DEBUG1PIN_ON;
-  TC0->COUNT32.INTFLAG.bit.MC0 = 1;
-  TC0->COUNT32.INTFLAG.bit.MC1 = 1;
-  // run the loop, 
   axl_integrator();
   DEBUG1PIN_OFF;
-}
-
-// deadies, unused ATM 
-void ucBusDrop_onRxISR(void){}
\ No newline at end of file
+}
\ No newline at end of file
diff --git a/firmware/axl-stepper/src/osape_ucbus b/firmware/axl-stepper/src/osape_ucbus
index 55661c3f0510b7e31ce059a47fc1c401c608c765..9779836fd38f965e2be5fb0ff11f933dac7f7a04 160000
--- a/firmware/axl-stepper/src/osape_ucbus
+++ b/firmware/axl-stepper/src/osape_ucbus
@@ -1 +1 @@
-Subproject commit 55661c3f0510b7e31ce059a47fc1c401c608c765
+Subproject commit 9779836fd38f965e2be5fb0ff11f933dac7f7a04