diff --git a/VERSION.txt b/VERSION.txt
index 0c62199..ee1372d 100644
--- a/VERSION.txt
+++ b/VERSION.txt
@@ -1 +1 @@
-0.2.1
+0.2.2
diff --git a/ino/contact_printer/ContactPrinter.cpp b/ino/contact_printer/ContactPrinter.cpp
index 0dae16c..4881d51 100644
--- a/ino/contact_printer/ContactPrinter.cpp
+++ b/ino/contact_printer/ContactPrinter.cpp
@@ -27,8 +27,8 @@ void ContactPrinter::Setup () {
 	digitalWrite(takeup_pin_dir_b, LOW);
 
 	SetDirectionTakeup(true);
-	SetSpeedTakeup(0.9);
-	SetSpeedDrive(0.8);
+	SetSpeedTakeup(1.0);
+	SetSpeedDrive(1.0);
 	start_time = millis();
 }
 
@@ -52,7 +52,9 @@ void ContactPrinter::SetSpeedTakeup(float speed) {
 	takeup_speed = speed;
 	takeup_pwm_duty_cycle = floor(speed * pwm_maximum);
 	Serial.print("Set takeup motors PWM = ");
-	Serial.println(takeup_pwm_duty_cycle);
+	Serial.print(takeup_pwm_duty_cycle);
+	Serial.print(" / ");
+	Serial.println(pwm_maximum);
 }
 
 void ContactPrinter::StartTakeup () {
diff --git a/ino/contact_printer/ContactPrinter.h b/ino/contact_printer/ContactPrinter.h
index 20d654f..d679e40 100644
--- a/ino/contact_printer/ContactPrinter.h
+++ b/ino/contact_printer/ContactPrinter.h
@@ -27,7 +27,7 @@ class ContactPrinter {
 	const uint32_t pwm_frequency = 5000;
 	const uint8_t takeup_pwm_channel = 1;
 	const uint8_t pwm_resolution = 8;
-	const uint16_t pwm_maximum = 255; //8 = 255, 16 = 65535
+	const uint16_t pwm_maximum = 255; //8 = 255, 10 = 1024, 16 = 65535
 
 	/* BUTTONS */
 	const uint16_t button_delay = 500;
@@ -82,8 +82,6 @@ class ContactPrinter {
 
 	bool IsRunning ();
 
-	float CalculateFPS (long timeLength, uint32_t frames);
-	float CalculateRPM (long rotationLength);
 };
 
 #endif
diff --git a/ino/contact_printer/DriveMotor.cpp b/ino/contact_printer/DriveMotor.cpp
index b30fe9e..004878a 100644
--- a/ino/contact_printer/DriveMotor.cpp
+++ b/ino/contact_printer/DriveMotor.cpp
@@ -24,10 +24,22 @@ void DriveMotor::Setup () {
 	digitalWrite(forward_pin, LOW);
 	digitalWrite(backward_pin, LOW);
 
-	//attachInterrupt(digitalPinToInterrupt(encoder_b_pin), ReadEncoder, RISING);
+	attachInterrupt(digitalPinToInterrupt(encoder_b_pin), ReadEncoder, RISING);
 }
 
 void DriveMotor::Start() {
+	pulses = 0;
+	fps = 0.0;
+	fps_max = -1.0;
+	fps_min = 100000.0;
+	fps_avg = -1.0;
+	rpm = 0.0;
+	rpm_max = -1.0;
+	rpm_min = 100000.0;
+	rpm_avg = -1.0;
+	start_frame = frames;
+	start_rotation = rotations;
+	start_time = millis();
 	ledcWrite(pwm_channel, pwm_duty_cycle);
 	digitalWrite(forward_pin, HIGH);
 	digitalWrite(backward_pin, LOW);
@@ -37,38 +49,86 @@ void DriveMotor::Stop() {;
 	digitalWrite(forward_pin, LOW);
 	digitalWrite(backward_pin, LOW);
 	ledcWrite(pwm_channel, 0);
+	fps = CalculateFPS(timer - start_time, frames - start_frame);
+	rpm = CalculateRPM(timer - start_time, rotations - start_rotation);
+	Serial.print("RPM      ");
+	Serial.println(rpm);
+	Serial.print("RPM avg: ");
+	Serial.println(rpm_avg);
+	Serial.print("RPM min: ");
+	Serial.println(rpm_min);
+	Serial.print("RPM max: ");
+	Serial.println(rpm_max);
+
+	Serial.print("FPS      ");
+	Serial.println(fps);
+	Serial.print("FPS avg: ");
+	Serial.println(fps_avg);
+	Serial.print("FPS min: ");
+	Serial.println(fps_min);
+	Serial.print("FPS max: ");
+	Serial.println(fps_max);
 }
 
 void DriveMotor::SetSpeed(float speed) {
 	pwm_duty_cycle = floor(pwm_maximum * speed);
 	Serial.print("Set drive motor PWM = ");
-	Serial.println(pwm_duty_cycle);
+	Serial.print(pwm_duty_cycle);
+	Serial.print(" / ");
+	Serial.println(pwm_maximum);
 }
 
 
-int64_t DriveMotor::posi = 0;
-/*
+int32_t DriveMotor::pulses = 0;
+
 void DriveMotor::ReadEncoder () {
-	int b = digitalRead(DriveMotor::encoder_b_pin);
+	int b = digitalRead(encoder_b_pin);
 	if (b > 0) {
-		posi++;
+		pulses++;
 	} else {
-		posi--;
+		pulses--;
 	}
-}*/
+}
 
 void DriveMotor::Loop () {
-	int64_t pos;
+	timer = millis();
 	//monitor speed
-	/*ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
-    	pos = posi;
-  	}*/
+	frames = (int32_t) floor((float) pulses / pulses_per_frame);
+	if (frames != last_frame) {
+		last_frame = frames;
+		fps = CalculateFPS(timer - start_time, frames - start_frame);
+		if (fps < fps_min) { fps_min = fps; }
+		if (fps > fps_max) { fps_max = fps; }
+		if (fps_avg < 0.0) {
+			fps_avg = fps;
+		} else {
+			fps_avg = (fps_avg + fps) / 2.0;
+		}
+		Serial.print("Frame: ");
+		Serial.println(frames);
+	}
+	rotations = (int32_t) floor((float) pulses / (float) pulses_per_rotation);
+  	if (rotations != last_rotation) {
+    	last_rotation = rotations;
+    	//correction
+    	frames = rotations * frames_per_rotation;
+    	rpm = CalculateRPM(timer - start_time, rotations - start_rotation);
+    	if (rpm < rpm_min) { rpm_min = rpm; }
+    	if (rpm > rpm_max) { rpm_max = rpm; }
+    	if (rpm_avg < 0.0) {
+			rpm_avg = rpm;
+		} else {
+			rpm_avg = (rpm_avg + rpm) / 2.0;
+		}
+		Serial.print("Rotation: ");
+		Serial.println(rotations);
+	}
 }
 
-float DriveMotor::CalculateFPS (long timeLength, uint32_t frames) {
-  return 1000.0 / ((float) timeLength / (float) frames);
+float DriveMotor::CalculateFPS (long time_length, uint32_t frames) {
+	return 1000.0 / ((float) time_length / (float) frames);
 }
 
-float DriveMotor::CalculateRPM (long rotationLength) {
-  return 60000.0 / (float) (rotationLength);
+float DriveMotor::CalculateRPM (long time_length, uint32_t rotations) {
+	return 60000.0 / ((float) time_length / (float) rotations);
 }
diff --git a/ino/contact_printer/DriveMotor.h b/ino/contact_printer/DriveMotor.h
index 599070d..b1d4534 100644
--- a/ino/contact_printer/DriveMotor.h
+++ b/ino/contact_printer/DriveMotor.h
@@ -8,29 +8,47 @@ class DriveMotor {
 	private:
 
 	//defaults are for EPS32 dev board
-	const uint8_t enable_pin = 26;
-	const uint8_t forward_pin = 27; //Clockwise
-	const uint8_t backward_pin = 14; //Counter-clockwise
-	const uint8_t encoder_a_pin = 33;
-	const uint8_t encoder_b_pin = 25;
+	static const uint8_t enable_pin = 26;
+	static const uint8_t forward_pin = 27; //Clockwise
+	static const uint8_t backward_pin = 14; //Counter-clockwise
+	static const uint8_t encoder_a_pin = 33;
+	static const uint8_t encoder_b_pin = 25;
 
 	const uint32_t pwm_frequency = 5000;
 	const uint8_t pwm_channel = 0;
-	const uint8_t pwm_resolution = 8;
-	const uint16_t pwm_maximum = 255; //8 = 255, 16 = 65535
+	const uint8_t pwm_resolution = 10;
+	const uint16_t pwm_maximum = 1024; //8 = 255, 10 = 1024, 16 = 65535
 
 	const uint8_t ppr = 11;
 	const float ratio = 187.0 / 3.0;
-	const uint32_t maxPulses = (int) round((float) ppr * ratio);
-	const uint8_t framesPerRotation = 18;
+	const uint32_t pulses_per_rotation = (int) round((float) ppr * ratio);
+	const uint8_t frames_per_rotation = 18;
+	const float pulses_per_frame = (float) pulses_per_rotation / (float) frames_per_rotation;
 
-	volatile uint8_t pwm_duty_cycle = 0;
+	volatile uint32_t pwm_duty_cycle = 0;
 
-	static int64_t posi;
+	static int32_t pulses;
 
-	//measured
+	//state
+	volatile long timer = 0;
+	volatile long start_time = 0;
+	volatile int32_t start_rotation = 0;
+	volatile int32_t start_frame = 0;
+
+	//measure
 	volatile float rpm = 0.0;
+	volatile float rpm_max = -1.0;
+	volatile float rpm_min = 100000.0;
+	volatile float rpm_avg = -1.0;
+	volatile int32_t rotations = 0;
+	volatile int32_t last_rotation = 0;
+
 	volatile float fps = 0.0;
+	volatile float fps_max = -1.0;
+	volatile float fps_min = 100000.0;
+	volatile float fps_avg = -1.0;
+	volatile int32_t frames = 0;
+	volatile int32_t last_frame = 0;
 
 	//target
 	volatile float target_fps = 0.0;
@@ -45,8 +63,8 @@ class DriveMotor {
 	void Stop();
 	void SetSpeed(float speed);
 
-	float CalculateFPS (long timeLength, uint32_t frames);
-	float CalculateRPM (long rotationLength);
+	float CalculateFPS (long time_length, uint32_t frames);
+	float CalculateRPM (long time_length, uint32_t rotations);
 
 	protected: 
 
diff --git a/ino/contact_printer/contact_printer.ino b/ino/contact_printer/contact_printer.ino
index a8247eb..dbbc122 100644
--- a/ino/contact_printer/contact_printer.ino
+++ b/ino/contact_printer/contact_printer.ino
@@ -1,6 +1,6 @@
 #include "ContactPrinter.h";
 
- #define VERSION "0"
+ #define VERSION "0.2.2"
 
 /**
  * 
diff --git a/scripts/version.sh b/scripts/version.sh
index 84846f4..6eb79b5 100644
--- a/scripts/version.sh
+++ b/scripts/version.sh
@@ -22,7 +22,7 @@ fi
 V="${VERSION[0]}.${VERSION[1]}.${VERSION[2]}"
 
 #echo "{ \"version\" : \"$V\", \"bin\" : \"/bin/contact_printer.bin\", \"date\" : $DATESTR }" > ./ota.json
-VERSION_UPDATE=`sed "s/.*define VERSION.*/ #define VERSION \"$VERSION\"/" "${SOURCE_FILE}"`
+VERSION_UPDATE=`sed "s/.*define VERSION.*/ #define VERSION \"${V}\"/" "${SOURCE_FILE}"`
 echo "${VERSION_UPDATE}" > "${SOURCE_FILE}"
 
 echo $V > "${VERSION_FILE}"