Hey! So I thought I had all of this worked out, but apparently not. I've tried to cut the same shape about 10 times now, and every single time the router slips and moves to the left in the same exact spot. I ran the code on a simulator as well as in the air and everything looked fine. There was no slipping or anything. I've also tried multiple different feed rates to no avail. I've also checked all belts and pulleys and there is no play that I can see. I'm cutting .5" birch plywood @ 45-50 ipm 16k rpm with a DW611 1/16th" per pass I've tried all sorts of different depths for the pass as well as slowing and speeding up the feed rate and it still does it! The bit i'm using may be a bit dull, which is also annoying because i've cut out maybe 3 things with it. Multiple passes and very long cuts so probably my fault. Anyway, here is a video. Someone please help because I'm about to rip my hair out!