diff --git a/controller/calibration.ino b/controller/calibration.ino
index a1ad945a8d006abbe87a014863e5cc10fba0d9e2..7386153133e0573051358f93baae5b07454abdc4 100644
--- a/controller/calibration.ino
+++ b/controller/calibration.ino
@@ -50,7 +50,7 @@ void Calibrate() {
       gEsc2.write(0);
 
       Serial.println("[INFO]: Calibration done.");
-      Serial.println("Maxium wing posiions are: ");
+      Serial.println("Maximum wing positions are: ");
       PrintArray(gMaxWingPos);
 
       Serial.println("Offsets are: ");
@@ -60,6 +60,10 @@ void Calibrate() {
     }
   }
 
+  Serial.println("[INPUT]: Start acquisition then press 'y' to begin.");
+  while (Serial.available() == 0) {}  // Wait for serial input
+
+
   // Flush Serial before continuing
   while (Serial.available()) {
     Serial.read();
diff --git a/controller/controller.ino b/controller/controller.ino
index 83808bacb3946d885cb18a071c3f984e2d8f46ab..f37e6d36ab2e65fc44d0d26e374c48c6e12a19b3 100644
--- a/controller/controller.ino
+++ b/controller/controller.ino
@@ -58,14 +58,14 @@
 #define ENC_ORIENT \
   { 1, -1, 1, -1 }  // Encoder orientation
 #define MAX_WING_POS \
-  { 222.1, 117.77, 117, 117 }  // Maximum wing angle (returned by encoder value)
-#define TRUE_MAX_ANGLE 38.07   // Maximum wing angle (measured on setup)
+  { 4095, 1317, 0, 1494 }     // Maximum wing angle (returned by encoder value)
+#define TRUE_MAX_ANGLE 38.07  // Maximum wing angle (measured on setup)
 
 
 /*******************************************************************************
   Globals (for things that I can change manually)
  *******************************************************************************/
-const boolean gSKIP_CALIB = false;  // Skip calibration or not
+const boolean gSKIP_CALIB = true;  // Skip calibration or not
 
 // Constant values that can be tweaked here or in the ESC before run
 const uint16_t gMAX_SIG = 2000;  // Max signal to the ESC [ms]
@@ -75,7 +75,7 @@ const uint16_t gMAX_RPM = 3000;    // Motor maximum RPM (set in ESC)
 const uint16_t gMIN_RPM = 750;     // Motor minimum RPM (set in ESC)
 const uint8_t gMAX_ESC_VAL = 160;  // Value at which motor is at max RPM
 const uint8_t gMIN_ESC_VAL = 40;   // Min value for ESC to start motor (trial-error)
-const uint8_t gESC_OFFSET = 4;     // Offset to add to ESC 2 to sync them
+const uint8_t gESC_OFFSET = 1;     // Offset to add to ESC 1 to sync them
 
 const uint8_t gCSN_PINS[] = CSN_PINS;     // Encoder Chip Select pins
 const int8_t gENC_ORIENT[] = ENC_ORIENT;  // Encoder orientation
@@ -89,7 +89,7 @@ Servo gEsc2;  // ESC for aft motor
 
 uint8_t gEsc_val = 0;                      // ESC angle (to use with the Servo library) [0-180]
 String gMode;                              // Mode of operation
-uint16_t gAngleOffset[] = { 0, 0, 0, 0 };  // Encoder offset (prevent wrap-around)
+uint16_t gAngleOffset[] = { 0, 0, 1, 0 };  // Encoder offset (prevent wrap-around)
 uint16_t gMaxWingPos[] = MAX_WING_POS;     // Encoder maximum recorder position
 
 
@@ -172,8 +172,8 @@ void loop() {
   }
 
   // Write value to ESCs
-  gEsc1.write(gEsc_val);
-  gEsc2.write(gEsc_val + gESC_OFFSET);
+  gEsc1.write(gEsc_val + gESC_OFFSET);
+  gEsc2.write(gEsc_val);
 
   // Read value from rotary encoders
   for (int i = 0; i < sizeof(gCSN_PINS); i++) {
@@ -234,7 +234,7 @@ void StopMotor(int old_esc_val) {
 
   Serial.println("[INFO] MOTOR STOP INITIATED");
 
-  if (old_esc_val > gMIN_ESC_VAL) {
+  if (old_esc_val > gMIN_ESC_VAL + 10) {
     Serial.println("[INFO] Slowing down motor for 3 sec...");
     gEsc1.write(gMIN_ESC_VAL);
     gEsc2.write(gMIN_ESC_VAL);