diff --git a/pico-cp/app.py b/pico-cp/app.py
index 157b4f6..df1d58d 100644
--- a/pico-cp/app.py
+++ b/pico-cp/app.py
@@ -1157,40 +1157,41 @@ class App:
         show_stats(0, 0, 0)
         self.display.refresh()
         time.sleep(0.1); center = self.jx.value
-        last = time.monotonic(); lastdir = None
-        total = 0; win = 0; peak = 0; tsample = time.monotonic()
-        while True:
+        total = 0; win = 0; peak = 0; cw = True; dt = 1.0; lastdir = None
+        now = time.monotonic(); last = now; tsample = now; tjoy = now
+        while True:                                         # no per-iteration sleep: tight step timing in this mode
             now = time.monotonic()
-            dx = self.jx.value - center; mag = abs(dx)
-            if mag > JOY_DEADZONE:
-                cw = dx > 0
-                frac = (mag - JOY_DEADZONE) / (32768 - JOY_DEADZONE)
-                if frac > 1.0: frac = 1.0
-                dt = 0.02 + (0.001 - 0.02) * frac           # full push ~1000 steps/s; just past deadzone = slow
-                if self.pend is not None and self.pend.ok and now - last >= dt:
-                    self.pend.spin(cw); last = now; total += 1; win += 1
-                if cw != lastdir:                           # direction changed -> update LED + needle
-                    lastdir = cw
-                    if cw: self.led.set(0, 150, 0)
-                    else: self.led.set(0, 0, 255)
-                    ang = PEND_THETA if cw else -PEND_THETA
-                    bx = PEND_PX + int(PEND_LEN * math.sin(ang)); by = PEND_PY - int(PEND_LEN * math.cos(ang))
-                    bob.x = bx; bob.y = by
-                    arm.points = [(PEND_PX - 4, PEND_PY), (PEND_PX + 4, PEND_PY), (bx, by)]
+            if now - tjoy >= 0.004:                         # poll the joystick ~250x/s, OFF the step hot-path
+                tjoy = now
+                dx = self.jx.value - center; mag = abs(dx)
+                if mag > JOY_DEADZONE:
+                    cw = dx > 0
+                    frac = (mag - JOY_DEADZONE) / (32768 - JOY_DEADZONE)
+                    if frac > 1.0: frac = 1.0
+                    dt = 0.02 + (0.0006 - 0.02) * frac      # commanded up to ~1600 steps/s (find the motor's real wall)
+                    if cw != lastdir:                       # direction changed -> LED + needle (rare, so refresh here)
+                        lastdir = cw
+                        if cw: self.led.set(0, 150, 0)
+                        else: self.led.set(0, 0, 255)
+                        ang = PEND_THETA if cw else -PEND_THETA
+                        bx = PEND_PX + int(PEND_LEN * math.sin(ang)); by = PEND_PY - int(PEND_LEN * math.cos(ang))
+                        bob.x = bx; bob.y = by
+                        arm.points = [(PEND_PX - 4, PEND_PY), (PEND_PX + 4, PEND_PY), (bx, by)]
+                        self.display.refresh()
+                elif lastdir is not None:                   # back to center -> stop, release, recentre needle
+                    lastdir = None; dt = 1.0
+                    if self.pend is not None and self.pend.ok: self.pend.release()
+                    self.led.set(0, 0, 0)
+                    bob.x = PEND_PX; bob.y = PEND_PY - PEND_LEN
+                    arm.points = [(PEND_PX - 4, PEND_PY), (PEND_PX + 4, PEND_PY), (PEND_PX, PEND_PY - PEND_LEN)]
                     self.display.refresh()
-            elif lastdir is not None:                       # back to center -> stop, release, recentre needle
-                lastdir = None
-                if self.pend is not None and self.pend.ok: self.pend.release()
-                self.led.set(0, 0, 0)
-                bob.x = PEND_PX; bob.y = PEND_PY - PEND_LEN
-                arm.points = [(PEND_PX - 4, PEND_PY), (PEND_PX + 4, PEND_PY), (PEND_PX, PEND_PY - PEND_LEN)]
-                self.display.refresh()
-            if now - tsample >= 0.3:                        # ~3x/s: commanded-rate window -> readout (peak = motor ceiling)
+            if lastdir is not None and self.pend is not None and self.pend.ok and now - last >= dt:
+                self.pend.spin(lastdir); last = now; total += 1; win += 1
+            if now - tsample >= 1.0:                         # readout once/s (one tiny refresh, not 3+ hitches/s)
                 rate = int(win / (now - tsample))
                 if rate > peak: peak = rate
                 show_stats(total, rate, peak); win = 0; tsample = now
                 self.display.refresh()
-            time.sleep(0.0005)
 
     # ---------- audio + light ----------
     def click(self, level):