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I am using OnSTEP as well in belt-modified EQ6..
My approach was a bit different - I split the system such that motor part (steppers, Pololu drivers) are in the mount processor part is in the hand-pad. This way I can use OnSTEP, Bartels, Sound-Stepper, my own driver etc. on the same mount.
Also, I can use single hand-pad on other mounts I have (Bartelised dob, LDX75).
Very good and versatile firmware indeed.
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