To modify the motor timing constants in the MimirInst do the following:

• Kill the current daemon. On yggdrasil:

ps -ef | grep MimirInst
kill -9 (job number for MimirInst)

• Go to /home/camera/taylor/MimirInst-1.1/include

vi MimirInst.h    -   change motor constants as needed
:wq                      -   to save file

• Change directory,

cd  /home/camera/taylor/MimirInst-1.1

make clean
make

• Restart the MimirInst daemon from the src directory

cd /home/camera/taylor/MimirInst-1.1/src
./MimirInst

• If this works fine, then kill it again and do a formal install

cd ..
sudo make install

There are no other places where motor delays occur, so this is the only place needing motor timing adjustments.
DPC 20161110