Runner, I think what you want is in the general config > shuttle accel = .0001 or less if your sys will take it. this should help whith the direction changes. anyway it did on mine ! As for the tuning, you may be trying to get them too tight ! try this. Start with damp and gain backed off and key board handy so you can make jog with direction changes. then turn up gain till it gets smooth and then turn some damp on till it sounds like brakes applying when you change direction then back off till it is smooth and quiet. This should get you about as close to the critical damping as your going to get without the fancy scope. Don't try to adjust it too tight, and listen to it when you change directions. you only need to move it an inch or two then back and forth. Its the smooth drive and decel accel at direction change that is of interest. When it is just sitting it should be totally quiet. If any sound at all from motor, it should be minimal and very faint. When they accel and run full rapid it should run silky smooth. If your too tight it will have a bit of growl in it. "Listen and soon you'll be an expert too" a quote from Aaron !