diff --git a/.DS_Store b/.DS_Store
index 9970dffc..8727653d 100644
Binary files a/.DS_Store and b/.DS_Store differ
diff --git a/Arduino/.DS_Store b/Arduino/.DS_Store
index 79f50b9d..61215ba2 100644
Binary files a/Arduino/.DS_Store and b/Arduino/.DS_Store differ
diff --git a/Arduino/Esp32/Main/LoadCell.cpp b/Arduino/Esp32/Main/LoadCell.cpp
index 31170cd6..6f7a823c 100644
--- a/Arduino/Esp32/Main/LoadCell.cpp
+++ b/Arduino/Esp32/Main/LoadCell.cpp
@@ -54,6 +54,7 @@ LoadCell_ADS1256::LoadCell_ADS1256(uint8_t channel0, uint8_t channel1)
   : _zeroPoint(0.0), _varianceEstimate(DEFAULT_VARIANCE_ESTIMATE)
 {
   ADC().setChannel(channel0,channel1);   // Set the MUX for differential between ch0 and ch1 
+  //ADC().setChannel(channel1, channel0);   // Set the MUX for differential between ch0 and ch1 
 }
 
 float LoadCell_ADS1256::getReadingKg() const {
diff --git a/Arduino/Esp32/Main/Main.h b/Arduino/Esp32/Main/Main.h
index 5ff75da0..41adf937 100644
--- a/Arduino/Esp32/Main/Main.h
+++ b/Arduino/Esp32/Main/Main.h
@@ -1,6 +1,21 @@
 #pragma once
 
-#include <ADS1256.h>
+//#include <ADS1256.h>
+
+/********************************************************************/
+/*                      Select the PCB                              */
+/********************************************************************/
+//#define PCB_VERSION 1 // V1 for regular ESP32
+//#define PCB_VERSION 2 // V1 for ESP32 S2 mini
+#define PCB_VERSION 3 // V3 for regular ESP32
+
+
+
+
+
+/********************************************************************/
+/*                      Other defines                               */
+/********************************************************************/
 
 // target cycle time for pedal update task, to get constant cycle times, required for FIR filtering
 #define DAP_MICROSECONDS_PER_SECOND 1000000
@@ -25,3 +40,80 @@
 #define ADC_SAMPLE_RATE ADS1256_DRATE_1000SPS
 #define PUT_TARGET_CYCLE_TIME_IN_US DAP_MICROSECONDS_PER_SECOND / 1000
 
+
+
+
+
+/********************************************************************/
+/*                      PIN defines                                 */
+/********************************************************************/
+// initial version of dev PCB for regular ESP32
+#if PCB_VERSION == 1
+  // ADC defines
+  #define PIN_DRDY 17// 17 --> DRDY
+  #define PIN_RST  16 // X --> X
+  #define PIN_SCK 18 // 18 -->SCLK
+  #define PIN_MISO 19 // 19 --> DOUT
+  #define PIN_MOSI 23 // 23 --> DIN
+  #define PIN_CS 5 // 5 --> CS
+
+  // stepper pins
+  #define dirPinStepper    0
+  #define stepPinStepper   4
+
+  // endstop pins
+  #define minPin 34
+  #define maxPin 35
+
+  // level shifter not present on this PCB design
+  #define SENSORLESS_HOMING false
+#endif
+
+
+// initial version of dev PCB for ESP32 S2 mini
+#if PCB_VERSION == 2
+  // ADC defines
+  #define PIN_DRDY 37// 37 --> DRDY
+  #define PIN_RST  16 // X --> X
+  #define PIN_SCK 18 // 18 -->SCLK
+  #define PIN_MISO 35 // 35 --> DOUT
+  #define PIN_MOSI 33 // 33 --> DIN
+  #define PIN_CS 39 // 39 --> CS
+
+  // stepper pins
+  #define dirPinStepper    8
+  #define stepPinStepper   9
+
+  // endstop pins
+  #define minPin 11
+  #define maxPin 10
+
+  // level shifter not present on this PCB design
+  #define SENSORLESS_HOMING false
+#endif
+
+
+
+// V3 version of dev PCB for regular ESP32
+#if PCB_VERSION == 3
+  // ADC defines
+  #define PIN_DRDY 19// 19 --> DRDY
+  #define PIN_RST  16 // X --> X
+  #define PIN_SCK 16 // 16 -->SCLK
+  #define PIN_MISO 18 // 18 --> DOUT
+  #define PIN_MOSI 17 // 17 --> DIN
+  #define PIN_CS 21 // 21 --> CS
+
+  // stepper pins
+  #define dirPinStepper    22
+  #define stepPinStepper   23
+  
+  // endstop pins
+  #define minPin 11
+  #define maxPin 10
+
+  // level shifter is present on this PCB design
+  #define SENSORLESS_HOMING true
+
+#endif
+
diff --git a/Arduino/Esp32/Main/Main.ino b/Arduino/Esp32/Main/Main.ino
index a2623fc7..8822c3c3 100644
--- a/Arduino/Esp32/Main/Main.ino
+++ b/Arduino/Esp32/Main/Main.ino
@@ -1,7 +1,7 @@
 #define ESTIMATE_LOADCELL_VARIANCE
 #define ISV_COMMUNICATION
 //#define PRINT_SERVO_STATES
-#define SENSORLESS_HOMING false//true
+
 
 bool resetServoEncoder = true;
 bool isv57LifeSignal_b = false;
@@ -112,18 +112,7 @@ bool resetPedalPosition = false;
 /*                                                                                            */
 /**********************************************************************************************/
 
-// Wiring connections
-#if CONFIG_IDF_TARGET_ESP32S2
-  #define minPin 11
-  #define maxPin 10
-  #define dirPinStepper    8 
-  #define stepPinStepper   9  // step pin must be pin 9
-#elif CONFIG_IDF_TARGET_ESP32
-  #define minPin 34
-  #define maxPin 35
-  #define dirPinStepper    0//8
-  #define stepPinStepper   4//9
-#endif
+
 
 
 /**********************************************************************************************/
diff --git a/Arduino/libs/.DS_Store b/Arduino/libs/.DS_Store
index 89f7490b..ef284b39 100644
Binary files a/Arduino/libs/.DS_Store and b/Arduino/libs/.DS_Store differ
diff --git a/Arduino/libs/ADS1255-ADS1256 b/Arduino/libs/ADS1255-ADS1256
index 80ca04d0..11375eee 160000
--- a/Arduino/libs/ADS1255-ADS1256
+++ b/Arduino/libs/ADS1255-ADS1256
@@ -1 +1 @@
-Subproject commit 80ca04d0587f9a7ad98eb2af6169fee1fb2cace1
+Subproject commit 11375eee4b39f54539a95714b7c67b8d510528b8