diff --git a/converter/src/main.rs b/converter/src/main.rs
index 553c027..5955cab 100644
--- a/converter/src/main.rs
+++ b/converter/src/main.rs
@@ -5,7 +5,7 @@ use postcard::to_vec_cobs;
 use heapless::Vec;
 
 fn main() {
-    let mut port = serialport::new("/dev/ttyACM0", 1152000)
+    let mut port = serialport::new("/dev/ttyACM0", 115200)
         .open().expect("port missing");
     println!("port open");
 
diff --git a/robot-controller/src/main.rs b/robot-controller/src/main.rs
index 215b5a6..0e8314b 100644
--- a/robot-controller/src/main.rs
+++ b/robot-controller/src/main.rs
@@ -5,7 +5,7 @@
 use core::cell::RefCell;
 use core::mem::MaybeUninit;
 
-use arduino_hal::clock::MHz16;
+use arduino_hal::{clock::MHz16, hal::usart::UsartWriter};
 use arduino_hal::hal::port::*;
 use arduino_hal::hal::usart::UsartReader;
 use arduino_hal::pac::USART0;
@@ -43,6 +43,7 @@ fn update_shift_register(
     latch_pin.set_high();
 }
 
+static mut UART_TX: MaybeUninit<UsartWriter<USART0, Pin<Input, PD0>, Pin<Output, PD1>, MHz16>> = MaybeUninit::uninit();
 static mut UART_RX: MaybeUninit<UsartReader<USART0, Pin<Input, PD0>, Pin<Output, PD1>, MHz16>> = MaybeUninit::uninit();
 
 static INPUT_LINE: Mutex<RefCell<[u8; 20]>> = Mutex::new(RefCell::new([0;20]));
@@ -50,6 +51,7 @@ static INPUT_LINE: Mutex<RefCell<[u8; 20]>> = Mutex::new(RefCell::new([0;20]));
 #[avr_device::interrupt(atmega328p)]
 unsafe fn USART_RX() {
     let rx = &mut *UART_RX.as_mut_ptr();
+    let tx = &mut *UART_TX.as_mut_ptr();
 
     static mut BUF: [u8; 20] = [0;20];
     static mut N: usize = 0; // index into line
@@ -111,10 +113,11 @@ fn main() -> ! {
     avr_device::interrupt::disable();
     serial.listen(arduino_hal::hal::usart::Event::RxComplete);
 
-    let (rx,tx) = serial.split();
+    let (rx,mut tx) = serial.split();
 
     unsafe { 
         UART_RX = MaybeUninit::new(rx);
+        UART_TX = MaybeUninit::new(tx);
         avr_device::interrupt::enable();
     };
 
@@ -144,7 +147,7 @@ fn main() -> ! {
         }
 
         fn to_pwm(val: f32) -> u8 {
-            (val.abs() * 255.0) as u8
+            (val.abs().min(1.0) * 255.0) as u8
         }
 
         // 16/255
@@ -164,5 +167,5 @@ fn decode_command() -> Command {
 
     let Some(length) = input.iter().position(|n| *n == 0) else { return Default::default() };
 
-    postcard::from_bytes_cobs(&mut input[..length]).unwrap_or(Default::default())
+    postcard::from_bytes_cobs(&mut input[..=length]).unwrap_or(Default::default())
 }