diff --git a/Firmware/EggbotWireless/platformio.ini b/Firmware/EggbotWireless/platformio.ini
index 73a22a4..41e5a8c 100644
--- a/Firmware/EggbotWireless/platformio.ini
+++ b/Firmware/EggbotWireless/platformio.ini
@@ -14,5 +14,6 @@ board = esp12e
 framework = arduino
 monitor_speed = 115200
 board_build.f_cpu = 80000000L
+upload_resetmethod = nodemcu
 
 upload_port=/dev/ttyUSB0
\ No newline at end of file
diff --git a/Firmware/EggbotWireless/src/main.cpp b/Firmware/EggbotWireless/src/main.cpp
index db346e1..ada497a 100644
--- a/Firmware/EggbotWireless/src/main.cpp
+++ b/Firmware/EggbotWireless/src/main.cpp
@@ -58,6 +58,8 @@ void sendCommand(float *command) {
 void setup() {
     Serial.begin(115200);
     Wire.begin(12, 13);
+    pinMode(5, OUTPUT);
+    digitalWrite(5, true);
 }
 
 void loop() {
diff --git a/Firmware/MotorControl/include/Globals.h b/Firmware/MotorControl/include/Globals.h
index 4a1e8f9..b04b667 100644
--- a/Firmware/MotorControl/include/Globals.h
+++ b/Firmware/MotorControl/include/Globals.h
@@ -15,11 +15,11 @@
 #define STEPS_PER_REVOLUTION (360/1.8) * 32
 #define DEF_RPM 2
 
-Stepper eggStepper(24, 25, STEPS_PER_REVOLUTION, 0, Y_DEGREES_PER_MM);
-Stepper servoStepper(28, 29, -STEPS_PER_REVOLUTION, X_LIMIT,
+Stepper eggStepper(6, 5, STEPS_PER_REVOLUTION, 0, Y_DEGREES_PER_MM);
+Stepper servoStepper(4, 3, -STEPS_PER_REVOLUTION, X_LIMIT,
                      X_DEGREES_PER_MM);
 
-Pen pen(23, 120, 180);
+Pen pen(7, 120, 180);
 
 unsigned int eggStepperDelay;
 unsigned int servoStepperDelay;
diff --git a/Firmware/MotorControl/platformio.ini b/Firmware/MotorControl/platformio.ini
index 91bbce6..4ea57bf 100644
--- a/Firmware/MotorControl/platformio.ini
+++ b/Firmware/MotorControl/platformio.ini
@@ -10,17 +10,14 @@
 
 [env:motorcontrol]
 platform = atmelavr
+board = uno
 framework = arduino
 
-board = mightycore32
-board_build.mcu = atmega32
-board_build.f_cpu = 16000000L
-
 build_flags = 
 
 board_upload.speed = 115200
 
-monitor_speed = 9600
+monitor_speed = 115200
 
 upload_protocol = stk500
 upload_flags =
diff --git a/Firmware/MotorControl/src/main.cpp b/Firmware/MotorControl/src/main.cpp
index 5afa19d..3ccc73f 100644
--- a/Firmware/MotorControl/src/main.cpp
+++ b/Firmware/MotorControl/src/main.cpp
@@ -112,24 +112,24 @@ void execCommand() {
 }
 
 void setup() {
-    cli();
     Serial.begin(115200);
     Wire.begin(8);
     Wire.onReceive(receiveEvent);
     Wire.onRequest(requestEvent);
     Serial.println("Hello!");
     eggStepperRPM = servoStepperRPM = curRPM;
-    OCR2 = 250;
-    TCCR2 |= (1 << WGM20) | (1 << CS22);
-    TIMSK |= (1 << OCIE2);
-    sei();
+    pinMode(A0, OUTPUT);
+    digitalWrite(A0, true);
+    OCR0A = 250;
+    TCCR0A |= (1 << WGM20) | (1 << CS22);
+    TIMSK0 |= (1 << OCIE0A);
     servoStepper.setPos(X_LIMIT);
     pen.init();
 }
 
 unsigned int ms = 0;
 
-ISR(TIMER2_COMP_vect) {
+ISR(TIMER0_COMPA_vect) {
     ms++;
     if (ms % adjustDelay  == 0) {
         adjustRPM();