diff --git a/01-firmware/Robin_nano35.bin b/01-firmware/Robin_nano35.bin
new file mode 100644
index 0000000..105d80e
Binary files /dev/null and b/01-firmware/Robin_nano35.bin differ
diff --git a/02-klipper/01-configuration/KlipperScreen.conf b/02-klipper/01-configuration/KlipperScreen.conf
index f900d59..8f598a3 100644
--- a/02-klipper/01-configuration/KlipperScreen.conf
+++ b/02-klipper/01-configuration/KlipperScreen.conf
@@ -119,6 +119,7 @@ extrude_speeds: 1, 2, 5, 10
 #~# --- Do not edit below this line. This section is auto generated --- #~#
 #~#
 #~# [main]
+#~# print_estimate_method = file
 #~# screen_blanking_printing = 1800
 #~# show_heater_power = True
 #~# move_speed_xy = 80
@@ -167,4 +168,7 @@ extrude_speeds: 1, 2, 5, 10
 #~# hyperlapse = False
 #~# test_stream_delay = False
 #~# timelapse_take_frame = False
+#~# security_offset = False
+#~# save = False
+#~# z_offset_calibration = False
 #~#
diff --git a/02-klipper/01-configuration/printer.cfg b/02-klipper/01-configuration/printer.cfg
index 0fbd366..4822e92 100644
--- a/02-klipper/01-configuration/printer.cfg
+++ b/02-klipper/01-configuration/printer.cfg
@@ -64,6 +64,10 @@
 [include timelapse.cfg]  #Enable if you want to use Timelapse
 #[include neopixels.cfg]  #Enable if you want to use some Neopixels macros
 
+########################################
+# Enable Exclude Objects
+########################################
+[exclude_object]
 
 ########################################
 # Printer Settings
@@ -80,7 +84,7 @@ max_z_velocity: 100
 max_z_accel: 1500
 minimum_z_position: -25
 print_radius: 152
-#delta_radius: 152
+delta_radius: 152
 
 
 ########################################
@@ -97,9 +101,9 @@ endstop_pin: ^PA15
 homing_speed: 50
 homing_retract_dist: 5.0
 homing_retract_speed: 10
-#angle: 210
-#position_endstop: 415.0
-#arm_length = 345.0
+angle: 210
+position_endstop: 415.0
+arm_length = 345.0
 
 [tmc2209 stepper_a]
 uart_pin: PD5
@@ -123,7 +127,7 @@ enable_pin: !PE1
 microsteps: 64  # If you encounter an error while measuring the resonances. Replace the microsteps to 16 just for the duration of the test.
 rotation_distance: 40
 endstop_pin: ^PA12
-#angle: 330
+angle: 330
 
 [tmc2209 stepper_b]
 uart_pin: PD7
@@ -147,7 +151,7 @@ enable_pin: !PB8
 microsteps: 64  # If you encounter an error while measuring the resonances. Replace the microsteps to 16 just for the duration of the test.
 rotation_distance: 40
 endstop_pin: ^PC4
-#angle: 90
+angle: 90
 
 [tmc2209 stepper_c]
 uart_pin: PD4
@@ -181,10 +185,10 @@ max_extrude_cross_section: 50
 max_extrude_only_distance: 800
 #pressure_advance: 0.04
 #pressure_advance_smooth_time: 0.040
-#control = pid
-#pid_kp = 17.501
-#pid_ki = 0.711
-#pid_kd = 107.630
+control = pid
+pid_kp = 17.501
+pid_ki = 0.711
+pid_kd = 107.630
 
 [tmc2209 extruder]
 uart_pin: PD9
@@ -207,10 +211,10 @@ sensor_pin: PC0
 sensor_type: EPCOS 100K B57560G104F
 min_temp: -5
 max_temp: 120
-#control = pid
-#pid_kp = 64.044
-#pid_ki = 3.812
-#pid_kd = 268.984
+control = pid
+pid_kp = 64.044
+pid_ki = 3.812
+pid_kd = 268.984
 
 
 ########################################
@@ -243,7 +247,7 @@ heater_temp: 50.0
 pin: !PA11
 x_offset: 0
 y_offset: 0
-#z_offset: 0
+z_offset: 0
 speed: 10
 lift_speed: 50
 samples: 8
@@ -386,127 +390,3 @@ value: 1
 #initial_RED: 1.0
 #initial_GREEN: 1.0
 #initial_BLUE: 1.0
-
-#*# <---------------------- SAVE_CONFIG ---------------------->
-#*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
-#*#
-#*# [probe]
-#*# z_offset = 18.168
-#*#
-#*# [printer]
-#*# delta_radius = 161.541152
-#*#
-#*# [stepper_a]
-#*# angle = 209.994009
-#*# arm_length = 343.333393
-#*# position_endstop = 420.376210
-#*#
-#*# [stepper_b]
-#*# angle = 329.645649
-#*# arm_length = 344.331987
-#*# position_endstop = 420.756046
-#*#
-#*# [stepper_c]
-#*# angle = 90.000000
-#*# arm_length = 344.669204
-#*# position_endstop = 419.508380
-#*#
-#*# [heater_bed]
-#*# control = pid
-#*# pid_kp = 74.784
-#*# pid_ki = 2.652
-#*# pid_kd = 527.225
-#*#
-#*# [extruder]
-#*# control = pid
-#*# pid_kp = 21.053
-#*# pid_ki = 1.105
-#*# pid_kd = 100.266
-#*#
-#*# [endstop_phase stepper_a]
-#*# trigger_phase = 74/256
-#*#
-#*# [endstop_phase stepper_b]
-#*# trigger_phase = 245/256
-#*#
-#*# [endstop_phase stepper_c]
-#*# trigger_phase = 206/256
-#*#
-#*# [delta_calibrate]
-#*# height0 = 18.168
-#*# height0_pos = 128667.375,128842.375,128439.875
-#*# height1 = 18.168
-#*# height1_pos = 154161.875,154427.000,115783.875
-#*# height2 = 18.168
-#*# height2_pos = 126664.375,168756.375,126450.375
-#*# height3 = 18.168
-#*# height3_pos = 116407.625,149915.250,149567.875
-#*# height4 = 18.168
-#*# height4_pos = 125537.375,125651.875,155145.875
-#*# height5 = 18.168
-#*# height5_pos = 146009.125,117173.625,145726.125
-#*# height6 = 18.168
-#*# height6_pos = 161542.000,126235.000,125771.000
-#*# distance0 = 64.916
-#*# distance0_pos1 = 133760.055,135025.270,134656.715
-#*# distance0_pos2 = 125622.695,143427.364,143109.896
-#*# distance1 = 64.964
-#*# distance1_pos1 = 134142.237,134259.915,135041.382
-#*# distance1_pos2 = 131208.634,131268.761,149862.826
-#*# distance2 = 65.09400000000001
-#*# distance2_pos1 = 134909.285,133883.101,134656.715
-#*# distance2_pos2 = 143404.654,125761.767,143109.896
-#*# distance3 = 64.86
-#*# distance3_pos1 = 135294.173,134267.191,133891.923
-#*# distance3_pos2 = 150167.980,131377.844,130953.810
-#*# distance4 = 64.986
-#*# distance4_pos1 = 134907.437,135032.603,133511.763
-#*# distance4_pos2 = 143373.363,143551.453,125396.095
-#*# distance5 = 65.096
-#*# distance5_pos1 = 134140.403,135413.904,133891.923
-#*# distance5_pos2 = 131181.142,150249.178,130953.810
-#*# distance6 = 64.966
-#*# distance6_pos1 = 126255.395,141679.009,142603.819
-#*# distance6_pos2 = 131802.918,130754.973,149226.859
-#*# distance7 = 65.042
-#*# distance7_pos1 = 131874.976,130830.442,147969.427
-#*# distance7_pos2 = 143656.328,125974.934,142105.296
-#*# distance8 = 64.98400000000001
-#*# distance8_pos1 = 142894.681,126395.826,141358.019
-#*# distance8_pos2 = 149528.288,131971.161,130436.606
-#*# distance9 = 65.07
-#*# distance9_pos1 = 148265.779,132040.434,130508.549
-#*# distance9_pos2 = 142365.402,143799.580,125605.775
-#*# distance10 = 64.938
-#*# distance10_pos1 = 141616.667,143036.549,126026.383
-#*# distance10_pos2 = 130663.479,149608.198,131546.374
-#*# distance11 = 65.096
-#*# distance11_pos1 = 130736.495,148349.483,131619.115
-#*# distance11_pos2 = 125833.738,142422.526,143361.643
-#*#
-#*# [bed_mesh default]
-#*# version = 1
-#*# points =
-#*# 	  0.001896, 0.001896, 0.001896, 0.001896, 0.001896, 0.001896, 0.001896, 0.001896, 0.001896, 0.001896, 0.001896, 0.001896, 0.001896
-#*# 	  -0.059330, -0.059330, -0.059330, -0.059330, -0.067872, -0.022435, 0.017308, 0.033277, 0.055371, 0.350995, 0.350995, 0.350995, 0.350995
-#*# 	  0.008108, 0.008108, 0.008108, -0.030591, -0.032114, 0.015006, 0.013111, 0.021862, 0.038866, 0.088963, 0.067147, 0.067147, 0.067147
-#*# 	  0.076988, 0.076988, 0.014473, 0.004642, 0.012713, 0.013011, 0.011547, 0.029096, 0.013954, 0.040260, 0.053985, 0.044658, 0.044658
-#*# 	  0.058240, 0.058240, 0.009890, -0.009780, -0.009101, -0.017454, 0.011496, 0.000848, 0.024160, 0.028844, 0.013092, 0.051052, 0.051052
-#*# 	  0.098491, 0.098491, 0.027282, 0.017226, 0.013297, 0.032427, 0.002743, 0.016712, 0.040042, 0.030823, 0.021936, -0.025504, -0.025504
-#*# 	  0.118502, 0.089060, 0.058103, 0.024333, 0.026867, 0.000293, 0.000000, 0.039546, 0.011935, 0.024922, 0.032961, -0.005448, -0.065631
-#*# 	  0.084782, 0.084782, 0.031679, 0.057877, -0.001049, 0.036571, 0.049042, 0.034882, 0.031147, 0.012871, -0.031739, -0.022315, -0.022315
-#*# 	  0.074070, 0.074070, 0.043000, 0.010733, 0.004522, 0.052281, 0.060864, 0.033685, 0.046425, 0.062195, 0.021025, -0.022662, -0.022662
-#*# 	  0.038321, 0.038321, 0.016001, 0.026090, 0.013819, 0.027285, 0.034729, 0.042197, 0.065762, 0.056596, 0.010150, -0.046115, -0.046115
-#*# 	  0.003236, 0.003236, 0.003236, 0.009619, 0.006156, 0.035293, 0.002207, 0.081087, 0.038801, 0.052112, 0.010090, 0.010090, 0.010090
-#*# 	  -0.024296, -0.024296, -0.024296, -0.024296, 0.006547, -0.004994, 0.033552, 0.044608, 0.046647, 0.079277, 0.079277, 0.079277, 0.079277
-#*# 	  0.047148, 0.047148, 0.047148, 0.047148, 0.047148, 0.047148, 0.047148, 0.047148, 0.047148, 0.047148, 0.047148, 0.047148, 0.047148
-#*# x_count = 13
-#*# y_count = 13
-#*# mesh_x_pps = 2
-#*# mesh_y_pps = 2
-#*# algo = bicubic
-#*# tension = 0.1
-#*# min_x = -147.0
-#*# max_x = 147.0
-#*# min_y = -147.0
-#*# max_y = 147.0
diff --git a/02-klipper/01-configuration/variables.cfg b/02-klipper/01-configuration/variables.cfg
index 11934bf..058e5a3 100644
--- a/02-klipper/01-configuration/variables.cfg
+++ b/02-klipper/01-configuration/variables.cfg
@@ -1,3 +1,2 @@
 [Variables]
-zoffset = {'z': 0.08999999999999866}