It is a long video (2 hours 38 minutes) with very deep dive into software. From first line of code through stepper motor approximation mechanism, G1 move buffer and execution of moves. It especially explains algorithms and methodology of moves execution and work with stepper motors. Tutorial also presents debugging methodology explaining reasoning of bugs chasing. There is also shown a build of the machine through metalwork and exact explanation of electronic components. Final source is on the github: https://github.com/63n0m3/XYtable Final resault is shown at the end as I am showing the functionality of the whole machine. At the end machine has practical menu, jog controller, accurate position display, reads G1 commands and it runs smoothly. Best.