   //sweep steering
   for (int i = -45; i < 45; i++) {
     set_steer_angle(i);
-    delay(10);
+    delay(5);
   }
   for (int i = 45; i >= -45; i--) {
     set_steer_angle(i);
-    delay(10);
+    delay(5);
   }
   set_steer_angle(0);
-  delay(100);
 }
 
 void toggle_LED(int led, bool visable) {


  delay(1);
  sweep();
  commander.sendCmd(cmd_info, "setup complete in 1s");
  delay(1000);

  //init rpm
  half_revolutions = 0;
  rpm = 0;
  timeold = 0;


  attach_commander_callbacks(); 

  enter_arming_mode();
}


}

void write_rpms(){
  if (half_revolutions >= 4) {
     rpm = 30 * 1000/(millis() - timeold) * half_revolutions;
     rpm_decay = 0;
     timeold = millis();
