diff --git a/southbridge/src/main.rs b/southbridge/src/main.rs
index a5000e5..3dffc82 100644
--- a/southbridge/src/main.rs
+++ b/southbridge/src/main.rs
@@ -52,10 +52,10 @@ async fn main(spawner: Spawner) {
     spawner.spawn(logger_task(driver)).unwrap();
 
     let mut drive_conf: pwm::Config = Default::default();
-    drive_conf.divider = 40.into();
-    drive_conf.top = 62500; // 20ms
-    drive_conf.compare_b = 4687; // 1.5ms
-    drive_conf.compare_a = 4687; // 1.5ms
+    drive_conf.divider = 15.into();
+    drive_conf.top = 50000; // 5ms
+    drive_conf.compare_b = 15000; // 1.5ms
+    drive_conf.compare_a = 15000; // 1.5ms
     let stopped = drive_conf.clone();
     let mut drive_pwm = Pwm::new_output_ab(p.PWM_SLICE0, p.PIN_16, p.PIN_17, drive_conf.clone());
 
@@ -101,6 +101,7 @@ async fn main(spawner: Spawner) {
             };
             command
         } else {
+            info!("waiting for command");
             COMMANDS.receive().await
         };
 
@@ -196,7 +197,7 @@ async fn telemetry(mut tx: BufferedUartTx<'static, UART1>, enabled: &'static Ato
 
 /// -1 to 1
 fn calc_speed(speed: f32) -> u16 {
-    const COUNTS_PER_MS: f32 = 3125.;
+    const COUNTS_PER_MS: f32 = 10000.;
     let speed = speed.clamp(-1., 1.);
 
     let ms = (speed/2.0)+1.5;