 long act_y = 0;
 long act_rotate = 0;
 
-long maxRotSpeed = 1000L;  // 16000L
-long maxMoveSpeed = 1000L; // 16000L
-long moveSpeed = 40L; // 2000L
+long maxMoveSpeed = 5000L; // 16000L
+long maxRotSpeed = 5000L;  // 16000L
+long moveSpeed = 5000L; // 2000L
 
 int millivoltAvg;
 int millivolt;
 int loopCnt = 0;
 
-#define DTIMEOUT 2000
+#define DTIMEOUT 500
 uint16_t driveTimeout = 0;
 
 void setup()

  }
}




void updateWheels() {
  // calculate wheel speeds

  lr = -act_x + act_y + act_rotate;
  rr = -act_x - act_y + act_rotate;

  if((lf == 0L) && (rf == 0L) && (lr == 0L) && (rr == 0L)) {
    digitalWrite(STEPPER1_STEP_EN, HIGH); // enable pin LOW = on
    digitalWrite(STEPPER2_STEP_EN, HIGH); // enable pin LOW = on
    digitalWrite(STEPPER3_STEP_EN, HIGH); // enable pin LOW = on
