 //////
 #define DESIREDRPM_TABLE    60      //desired RPM on output wheel
 //#define DESIREDRPM_MOTOR    600     //desired motor RPM (this may be superfulous) 
-#define DISCSLIPCOUNT       250     //How long alarm cond before alarm signal
+#define DISCSLIPCOUNT       50    //How long alarm cond before alarm signal
 #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    50      //Variance in RPM before alarm condition 
+#define ROTATIONVARIANCE    12	      //Variance in RPM before alarm condition 
 //#define TRANSMISSIONRATIO   10      //Tranmission drive ratio n:1
-#define NUMBEROFRESTARTS    5      //#of restarts attempted after stopped state
+#define NUMBEROFRESTARTS    3      //#of restarts attempted after stopped state
 #define STARTTIME           10000   //Expected ramp up time, in MS
 #define STOPTIME            10000   //Expected ramp down time, in MS
  /////////

  }

void motionControlStart(){
    Serial.println("Motor Control Start");
    if (restartCount < NUMBEROFRESTARTS){
        digitalWrite(STARTRELAYPIN, HIGH); // enable start relay if not above fail counter
        delay(5000); // wait for 2 second for a rotation 
        if (pulseCount == 0){               // if no rotation detected in interrupt
            digitalWrite(STARTRELAYPIN, LOW); // turn off motor becuase of no rotation
			Serial.println("No rotation detected -- attempting restart");
            restartCount++;
            delay (3000); // delay 3 seconds before attempting restart
            pulseCount = 0; // reset pulse count 
            motionControlStart();
            }
        if (pulseCount > 1){
        Serial.println("motion started, system running");
		delay(3000); 	// wait 3 seconds for disc to come up to fast enough speed
						// to not trip locked rotor functiion
		pulseCount = 0;
        restartCount = 0; // set restart counter to 0, since we're started
        allStopVar = 0; // Set allstop condition to off 
        }

if  (allStopVar == 0){
    calculateRPM();
    discSlipCheck();
    lockedRotorCheck();
}
    //now = millis();
    //MQTT Connection Check
