diff --git a/ino/takeup/takeup.ino b/ino/takeup/takeup.ino
index 4e5c267..4cf8bbb 100644
--- a/ino/takeup/takeup.ino
+++ b/ino/takeup/takeup.ino
@@ -22,8 +22,9 @@
 #define Fbutton 3
 #define Bbutton 4
 
-const int frameTime = 40; //ms
-const int frameSpeed = 255;
+const int frameTime = 200; //ms
+const int pullSpeed = 255;
+const int pushSpeed = 125;
 const int buttonPress = 100; //ms
 
 /**
@@ -138,8 +139,11 @@ void forward (int source) {
     softSerial.write(Fcmd);
   }
   Ftime = timer;
-  set_speed(Fmotor, frameSpeed);
+  set_speed(Fmotor, pullSpeed);
+  set_speed(Bmotor, pushSpeed);
+  Frunning = true;
   clockwise(Fmotor);
+  clockwise(Bmotor);
 }
 
 void backward (int source) {
@@ -150,16 +154,21 @@ void backward (int source) {
     softSerial.write(Bcmd);
   }
   Btime = timer;
-  set_speed(Bmotor, frameSpeed);
+  set_speed(Bmotor, pullSpeed);
+  set_speed(Fmotor, pushSpeed);
+  Brunning = true;
   counter_clockwise(Bmotor);
+  counter_clockwise(Fmotor);
 }
 
 void monitor () {
   if (Frunning && timer - Ftime >= frameTime) {
     stop(Fmotor);
+    stop(Bmotor);
   }
   if (Brunning && timer - Btime >= frameTime) {
     stop(Bmotor);
+    stop(Fmotor);
   }
 }
 
@@ -176,6 +185,7 @@ void set_speed (int motor, int val){
   }
 }
 
+/*
 void clockwise_fade (int motor, int startSpeed, int stopSpeed, int ms) {
   int steps = ceil((float) ms / (float) abs(stopSpeed - startSpeed));
   int stepMs = round((float) ms / (float) steps);
@@ -231,16 +241,15 @@ void counter_clockwise_fade (int motor, int startSpeed, int stopSpeed, int ms) {
     Bspeed = stopSpeed;
   }
 }
-
+*/
 void clockwise (int motor){
   if (motor == Fmotor) {
     analogWrite(Fpos, Fspeed);
     analogWrite(Fneg, 0);
-    Frunning = true;
-  } else if (motor == Bmotor) {
+  }
+  if (motor == Bmotor) {
     analogWrite(Bpos, Bspeed);
     analogWrite(Bneg, 0);
-    Brunning = true;
   }
 }
 
@@ -248,11 +257,10 @@ void counter_clockwise (int motor){
   if (motor == Fmotor) {
     analogWrite(Fpos, 0);
     analogWrite(Fneg, Fspeed);
-    Frunning = true;
-  } else if (motor == Bmotor) {
+  }
+  if (motor == Bmotor) {
     analogWrite(Bpos, 0);
     analogWrite(Bneg, Bspeed);
-    Brunning = true; 
   }
 }