diff --git a/controller/src/main.rs b/controller/src/main.rs
index 4c20358..3176aaa 100644
--- a/controller/src/main.rs
+++ b/controller/src/main.rs
@@ -288,10 +288,18 @@ async fn main(spawner: Spawner) {
                 };
 
                 if let Ok(telem) = postcard::to_slice(&telem, &mut telem_buf) {
+                    if let Err(e) = socket.write_all(&u32::to_be_bytes(telem.len() as u32)).await {
+                        warn!("write error: {:?}", e);
+                        break;
+                    }
                     if let Err(e) = socket.write_all(&telem).await {
                         warn!("write error: {:?}", e);
                         break;
                     }
+                    //if let Err(e) = socket.flush().await {
+                    //    warn!("write error: {:?}", e);
+                    //    break;
+                    //}
                 }
             }
         }
@@ -299,7 +307,7 @@ async fn main(spawner: Spawner) {
 }
 
 /// 0 to 1
-fn calc_speed(speed: f32) -> u16 {
+fn calc_speed_mosfet(speed: f32) -> u16 {
     let speed = speed.clamp(0., 1.);
 
     let speed = speed * u16::MAX as f32;
@@ -307,6 +315,16 @@ fn calc_speed(speed: f32) -> u16 {
     speed as u16
 }
 
+/// -1 to 1
+fn calc_speed(speed: f32) -> u16 {
+    const COUNTS_PER_MS: f32 = 3125.;
+    let speed = speed.clamp(-1., 1.);
+
+    let ms = (speed/2.0)+1.5;
+
+    (COUNTS_PER_MS * ms) as u16
+}
+
 #[derive(Debug)]
 enum CamState {
     Override(f32),
@@ -365,6 +383,6 @@ fn handle_cam(cam: &mut Pwm, state: &mut CamState, limit: &Input) {
     let mut f: pwm::Config = Default::default();
     f.divider = 1.into();
     f.top = u16::MAX;
-    f.compare_b = calc_speed(speed);
+    f.compare_b = calc_speed_mosfet(speed);
     cam.set_config(&f);
 }