 #define LOCKEDDISCRPM       30     //RPM to consider as "disc stopped"
 #define ROTATIONVARIANCE    2      //Variance in RPM before alarm condition 
 
-#define LOCKEDDISCRPM       10      //RPM to consider as "disc stopped"
-#define ROTATIONVARIANCE    12	      //Variance in RPM before alarm condition 
+#define LOCKEDDISCRPM       30      //RPM to consider as "disc stopped"
+#define ROTATIONVARIANCE    6	      //Variance in RPM before alarm condition 
 //#define TRANSMISSIONRATIO   10      //Tranmission drive ratio n:1
 #define NUMBEROFRESTARTS    3      //#of restarts attempted after stopped state
 #define STARTTIME           10000   //Expected ramp up time, in MS

void allStop(){
    digitalWrite(STARTRELAYPIN, LOW);
    Serial.println("System in All-Stop");
    delay(5000);
    client.publish(TOPIC_T, "CritErr: System halted. All stop active. Restart Required");
    allStopVar = 1;
    loop();
    }    
void exhibitStatusMsg(){
    char gs_msg [50];
    snprintf (gs_msg, 38, "Disc RPM %i", now / rpm);


void motionControlStart(){
    if (restartCount < NUMBEROFRESTARTS){
	    Serial.println("Motor Control Start");
		digitalWrite(STARTRELAYPIN, HIGH); // enable start relay if not above fail counter
        delay(4000); // wait for 4 second for a rotation 

        if (pulseCount == 0){               // if no rotation detected in interrupt
            digitalWrite(STARTRELAYPIN, LOW); // turn off motor becuase of no rotation
