diff --git a/.travis.yml b/.travis.yml
index 4b2d8a86..bacdcc8f 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,10 +1,10 @@
 language: c
 
 before_install:
-- sudo apt-get update -q
+  - sudo apt-get update -q
 
 install:
-- sudo apt-get install -qq lib32z1
+  - sudo apt-get install lib32z1 lib32ncurses5 lib32bz2-1.0
 
 script:
   - cd ${TRAVIS_BUILD_DIR}/g2core
diff --git a/g2core/config_app.cpp b/g2core/config_app.cpp
index f9f3d420..bed2a3fd 100644
--- a/g2core/config_app.cpp
+++ b/g2core/config_app.cpp
@@ -198,6 +198,7 @@ const cfgItem_t cfgArray[] = {
 #endif
 
     // Motor parameters
+// <<<<<<< HEAD
     { "1","1ma",_fip, 0, st_print_ma, st_get_ma, st_set_ma, (float *)&cs.null, M1_MOTOR_MAP },
     { "1","1sa",_fip, 3, st_print_sa, st_get_sa, st_set_sa, (float *)&cs.null, M1_STEP_ANGLE },
     { "1","1tr",_fipc,5, st_print_tr, st_get_tr, st_set_tr, (float *)&cs.null, M1_TRAVEL_PER_REV },
@@ -267,6 +268,78 @@ const cfgItem_t cfgArray[] = {
     { "6","6pl",_fip, 3, st_print_pl, st_get_pl, st_set_pl, (float *)&cs.null, M6_POWER_LEVEL },
 //  { "6","6pi",_fip, 3, st_print_pi, st_get_pi, st_set_pi, (float *)&st_cfg.mot[MOTOR_6].power_idle,     M6_POWER_IDLE },
 //  { "6","6mt",_fip, 2, st_print_mt, st_get_mt, st_set_mt, (float *)&st_cfg.mot[MOTOR_6].motor_timeout,  M6_MOTOR_TIMEOUT },
+
+/* =======
+    { "1","1ma",_fip, 0, st_print_ma, get_ui8, st_set_ma,  (float *)&st_cfg.mot[MOTOR_1].motor_map,      M1_MOTOR_MAP },
+    { "1","1sa",_fip, 3, st_print_sa, get_flt, st_set_sa,  (float *)&st_cfg.mot[MOTOR_1].step_angle,     M1_STEP_ANGLE },
+    { "1","1tr",_fipc,4, st_print_tr, get_flt, st_set_tr,  (float *)&st_cfg.mot[MOTOR_1].travel_rev,     M1_TRAVEL_PER_REV },
+    { "1","1mi",_fip, 0, st_print_mi, get_ui8, st_set_mi,  (float *)&st_cfg.mot[MOTOR_1].microsteps,     M1_MICROSTEPS },
+    { "1","1su",_fipi,5, st_print_su, st_get_su,st_set_su, (float *)&st_cfg.mot[MOTOR_1].steps_per_unit, M1_STEPS_PER_UNIT },
+    { "1","1po",_fip, 0, st_print_po, get_ui8, set_01,     (float *)&st_cfg.mot[MOTOR_1].polarity,       M1_POLARITY },
+    { "1","1pm",_fip, 0, st_print_pm, st_get_pm,st_set_pm, (float *)&cs.null,                            M1_POWER_MODE },
+    { "1","1pl",_fip, 3, st_print_pl, get_flt, st_set_pl,  (float *)&st_cfg.mot[MOTOR_1].power_level,    M1_POWER_LEVEL },
+//  { "1","1pi",_fip, 3, st_print_pi, get_flt, st_set_pi,  (float *)&st_cfg.mot[MOTOR_1].power_idle,     M1_POWER_IDLE },
+//  { "1","1mt",_fip, 2, st_print_mt, get_flt, st_set_mt,  (float *)&st_cfg.mot[MOTOR_1].motor_timeout,  M1_MOTOR_TIMEOUT },
+#if (MOTORS >= 2)
+    { "2","2ma",_fip, 0, st_print_ma, get_ui8, st_set_ma,  (float *)&st_cfg.mot[MOTOR_2].motor_map,      M2_MOTOR_MAP },
+    { "2","2sa",_fip, 3, st_print_sa, get_flt, st_set_sa,  (float *)&st_cfg.mot[MOTOR_2].step_angle,     M2_STEP_ANGLE },
+    { "2","2tr",_fipc,4, st_print_tr, get_flt, st_set_tr,  (float *)&st_cfg.mot[MOTOR_2].travel_rev,     M2_TRAVEL_PER_REV },
+    { "2","2mi",_fip, 0, st_print_mi, get_ui8, st_set_mi,  (float *)&st_cfg.mot[MOTOR_2].microsteps,     M2_MICROSTEPS },
+    { "2","2su",_fipi,5, st_print_su, st_get_su,st_set_su, (float *)&st_cfg.mot[MOTOR_2].steps_per_unit, M2_STEPS_PER_UNIT },
+    { "2","2po",_fip, 0, st_print_po, get_ui8, set_01,     (float *)&st_cfg.mot[MOTOR_2].polarity,       M2_POLARITY },
+    { "2","2pm",_fip, 0, st_print_pm, st_get_pm,st_set_pm, (float *)&cs.null,                            M2_POWER_MODE },
+    { "2","2pl",_fip, 3, st_print_pl, get_flt, st_set_pl,  (float *)&st_cfg.mot[MOTOR_2].power_level,    M2_POWER_LEVEL},
+//  { "2","2pi",_fip, 3, st_print_pi, get_flt, st_set_pi,  (float *)&st_cfg.mot[MOTOR_2].power_idle,     M2_POWER_IDLE },
+//  { "2","2mt",_fip, 2, st_print_mt, get_flt, st_set_mt,  (float *)&st_cfg.mot[MOTOR_2].motor_timeout,  M2_MOTOR_TIMEOUT },
+#endif
+#if (MOTORS >= 3)
+    { "3","3ma",_fip, 0, st_print_ma, get_ui8, st_set_ma,  (float *)&st_cfg.mot[MOTOR_3].motor_map,      M3_MOTOR_MAP },
+    { "3","3sa",_fip, 3, st_print_sa, get_flt, st_set_sa,  (float *)&st_cfg.mot[MOTOR_3].step_angle,     M3_STEP_ANGLE },
+    { "3","3tr",_fipc,4, st_print_tr, get_flt, st_set_tr,  (float *)&st_cfg.mot[MOTOR_3].travel_rev,     M3_TRAVEL_PER_REV },
+    { "3","3mi",_fip, 0, st_print_mi, get_ui8, st_set_mi,  (float *)&st_cfg.mot[MOTOR_3].microsteps,     M3_MICROSTEPS },
+    { "3","3su",_fipi,5, st_print_su, st_get_su,st_set_su, (float *)&st_cfg.mot[MOTOR_3].steps_per_unit, M3_STEPS_PER_UNIT },
+    { "3","3po",_fip, 0, st_print_po, get_ui8, set_01,     (float *)&st_cfg.mot[MOTOR_3].polarity,       M3_POLARITY },
+    { "3","3pm",_fip, 0, st_print_pm, st_get_pm,st_set_pm, (float *)&cs.null,                            M3_POWER_MODE },
+    { "3","3pl",_fip, 3, st_print_pl, get_flt, st_set_pl,  (float *)&st_cfg.mot[MOTOR_3].power_level,    M3_POWER_LEVEL },
+//  { "3","3pi",_fip, 3, st_print_pi, get_flt, st_set_pi,  (float *)&st_cfg.mot[MOTOR_3].power_idle,     M3_POWER_IDLE },
+//  { "3","3mt",_fip, 2, st_print_mt, get_flt, st_set_mt,  (float *)&st_cfg.mot[MOTOR_3].motor_timeout,  M3_MOTOR_TIMEOUT },
+#endif
+#if (MOTORS >= 4)
+    { "4","4ma",_fip, 0, st_print_ma, get_ui8, st_set_ma,  (float *)&st_cfg.mot[MOTOR_4].motor_map,      M4_MOTOR_MAP },
+    { "4","4sa",_fip, 3, st_print_sa, get_flt, st_set_sa,  (float *)&st_cfg.mot[MOTOR_4].step_angle,     M4_STEP_ANGLE },
+    { "4","4tr",_fipc,4, st_print_tr, get_flt, st_set_tr,  (float *)&st_cfg.mot[MOTOR_4].travel_rev,     M4_TRAVEL_PER_REV },
+    { "4","4mi",_fip, 0, st_print_mi, get_ui8, st_set_mi,  (float *)&st_cfg.mot[MOTOR_4].microsteps,     M4_MICROSTEPS },
+    { "4","4su",_fipi,5, st_print_su, st_get_su,st_set_su, (float *)&st_cfg.mot[MOTOR_4].steps_per_unit, M4_STEPS_PER_UNIT },
+    { "4","4po",_fip, 0, st_print_po, get_ui8, set_01,     (float *)&st_cfg.mot[MOTOR_4].polarity,       M4_POLARITY },
+    { "4","4pm",_fip, 0, st_print_pm, st_get_pm,st_set_pm, (float *)&cs.null,                            M4_POWER_MODE },
+    { "4","4pl",_fip, 3, st_print_pl, get_flt, st_set_pl,  (float *)&st_cfg.mot[MOTOR_4].power_level,    M4_POWER_LEVEL },
+//  { "4","4pi",_fip, 3, st_print_pi, get_flt, st_set_pi,  (float *)&st_cfg.mot[MOTOR_4].power_idle,     M4_POWER_IDLE },
+//  { "4","4mt",_fip, 2, st_print_mt, get_flt, st_set_mt,  (float *)&st_cfg.mot[MOTOR_4].motor_timeout,  M4_MOTOR_TIMEOUT },
+#endif
+#if (MOTORS >= 5)
+    { "5","5ma",_fip, 0, st_print_ma, get_ui8, st_set_ma,  (float *)&st_cfg.mot[MOTOR_5].motor_map,      M5_MOTOR_MAP },
+    { "5","5sa",_fip, 3, st_print_sa, get_flt, st_set_sa,  (float *)&st_cfg.mot[MOTOR_5].step_angle,     M5_STEP_ANGLE },
+    { "5","5tr",_fipc,4, st_print_tr, get_flt, st_set_tr,  (float *)&st_cfg.mot[MOTOR_5].travel_rev,     M5_TRAVEL_PER_REV },
+    { "5","5mi",_fip, 0, st_print_mi, get_ui8, st_set_mi,  (float *)&st_cfg.mot[MOTOR_5].microsteps,     M5_MICROSTEPS },
+    { "5","5su",_fipi,5, st_print_su, st_get_su,st_set_su, (float *)&st_cfg.mot[MOTOR_5].steps_per_unit, M5_STEPS_PER_UNIT },
+    { "5","5po",_fip, 0, st_print_po, get_ui8, set_01,     (float *)&st_cfg.mot[MOTOR_5].polarity,       M5_POLARITY },
+    { "5","5pm",_fip, 0, st_print_pm, st_get_pm,st_set_pm, (float *)&cs.null,                            M5_POWER_MODE },
+    { "5","5pl",_fip, 3, st_print_pl, get_flt, st_set_pl,  (float *)&st_cfg.mot[MOTOR_5].power_level,    M5_POWER_LEVEL },
+//  { "5","5pi",_fip, 3, st_print_pi, get_flt, st_set_pi,  (float *)&st_cfg.mot[MOTOR_5].power_idle,     M5_POWER_IDLE },
+//  { "5","5mt",_fip, 2, st_print_mt, get_flt, st_set_mt,  (float *)&st_cfg.mot[MOTOR_5].motor_timeout,  M5_MOTOR_TIMEOUT },
+#endif
+#if (MOTORS >= 6)
+    { "6","6ma",_fip, 0, st_print_ma, get_ui8, st_set_ma,  (float *)&st_cfg.mot[MOTOR_6].motor_map,      M6_MOTOR_MAP },
+    { "6","6sa",_fip, 3, st_print_sa, get_flt, st_set_sa,  (float *)&st_cfg.mot[MOTOR_6].step_angle,     M6_STEP_ANGLE },
+    { "6","6tr",_fipc,4, st_print_tr, get_flt, st_set_tr,  (float *)&st_cfg.mot[MOTOR_6].travel_rev,     M6_TRAVEL_PER_REV },
+    { "6","6mi",_fip, 0, st_print_mi, get_ui8, st_set_mi,  (float *)&st_cfg.mot[MOTOR_6].microsteps,     M6_MICROSTEPS },
+    { "6","6su",_fipi,5, st_print_su, st_get_su,st_set_su, (float *)&st_cfg.mot[MOTOR_6].steps_per_unit, M6_STEPS_PER_UNIT },
+    { "6","6po",_fip, 0, st_print_po, get_ui8, set_01,     (float *)&st_cfg.mot[MOTOR_6].polarity,       M6_POLARITY },
+    { "6","6pm",_fip, 0, st_print_pm, st_get_pm,st_set_pm, (float *)&cs.null,                            M6_POWER_MODE },
+    { "6","6pl",_fip, 3, st_print_pl, get_flt, st_set_pl,  (float *)&st_cfg.mot[MOTOR_6].power_level,    M6_POWER_LEVEL },
+//  { "6","6pi",_fip, 3, st_print_pi, get_flt, st_set_pi,  (float *)&st_cfg.mot[MOTOR_6].power_idle,     M6_POWER_IDLE },
+//  { "6","6mt",_fip, 2, st_print_mt, get_flt, st_set_mt,  (float *)&st_cfg.mot[MOTOR_6].motor_timeout,  M6_MOTOR_TIMEOUT },
+>>>>>>> refs/heads/edge */
 #endif
     // Axis parameters
     { "x","xam",_fip,  0, cm_print_am, cm_get_am, cm_set_am, (float *)&cs.null, X_AXIS_MODE },
@@ -1133,7 +1206,7 @@ const cfgItem_t cfgArray[] = {
     { "","g92",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },    // origin offsets
     { "","g28",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },    // g28 home position
     { "","g30",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },    // g30 home position
-
+        
 #define TOOL_OFFSET_GROUPS 33
     { "","tof",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },    // current tool offsets
     { "","tt1",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },    // tt offsets
diff --git a/g2core/g2core_info.h b/g2core/g2core_info.h
index 8a253ea3..675cffb7 100644
--- a/g2core/g2core_info.h
+++ b/g2core/g2core_info.h
@@ -21,7 +21,7 @@
 #ifndef G2CORE_INFO_H_ONCE
 #define G2CORE_INFO_H_ONCE
 
-#define G2CORE_FIRMWARE_BUILD			100.19  // dev-195 Laserweb support. Based on feedhold lift branch p24
+#define G2CORE_FIRMWARE_BUILD			100.21  // Merged dev-209b-random-pauses to complete USB changes (only fix travis-ci from 100.20)
 #define G2CORE_FIRMWARE_VERSION         0.99
 
 #ifdef GIT_VERSION