Thank you all for the suggestions.  Will be doing some homework after this work week to see what I can do with what you all mentioned.

I do have some steppers from my upgrades printer.  Might try integrating them once I have a handle on the use of ARC a little better.

I think I ran across the mentioned Auto Position Gait heading but it did not occur to me it was for what I was seeking.  Will dig more.

Thanks again!

I got the afternoon off from work so we dug into this for a couple hours.  Once you made that suggestion I read over the manual aspects concerning it.  Then I realized we were under powering the controller board by enough to make most of the jerkiness a problem.  Proper power supply is essential.  #notmyfaulttheylookthesame...lol.

After that, and messing with steps and speed, it works.  Pretty smooth.  Smoother if I go slow with a little delay...and moving multiple motors works well.

Love it.

Now I gotta figure out how to build more stuff wanna make this battery powered and since I have a continuous servo for the base motor gotta figure out how to mount everything inside the movement zone...100% wireless...and able to rotate without tangling...which IS NOT the case currently.

Thanks so much. Once we have this where we can use it...we will upload it for ARC's community to play with.

That’s super great to hear it’s coming together. The feeling of success is unbeatable!

There’s a decent write up about types of batteries and such. Here’s the link, it’s not a long read: https://synthiam.com/Support/Get-Started/how-to-make-a-robot/power

i generally use 7.4v lipo batteries for all my robots. If the robot has an onboard pc, I use a high amp battery backup charger that you’d normally carry in a bag for charging phones on the go. They have high amperage and output 5 or 12 volts. I don’t use them for motors, I only use them for the pc. The motors i power with the 7.4v lipo