diff --git a/Firmware/EggbotWireless/src/ConfigManager.cpp b/Firmware/EggbotWireless/src/ConfigManager.cpp
index 87af9df..b7a79bf 100644
--- a/Firmware/EggbotWireless/src/ConfigManager.cpp
+++ b/Firmware/EggbotWireless/src/ConfigManager.cpp
@@ -4,7 +4,10 @@
 #include "ConfigManager.h"
 
 const std::unordered_map<std::string, std::string> defaults{
-    {{"wifiMode", "ap"}, {"wifiSSID", defSSID}, {"wifiPass", defPass}}};
+    {{"wifiMode", "ap"},
+     {"wifiSSID", defSSID},
+     {"wifiPass", defPass},
+     {"defRpm", "2"}}};
 
 /*
     Max string length is 25
diff --git a/Firmware/EggbotWireless/src/GCodeParser.cpp b/Firmware/EggbotWireless/src/GCodeParser.cpp
index 61b5c7a..e890bd3 100644
--- a/Firmware/EggbotWireless/src/GCodeParser.cpp
+++ b/Firmware/EggbotWireless/src/GCodeParser.cpp
@@ -1,6 +1,7 @@
 #include <Arduino.h>
 #include <unordered_map>
 
+#include "ConfigManager.h"
 #include "GCodeParser.h"
 
 Command bufcmd;
@@ -56,9 +57,10 @@ Command parseGCode(std::string gcode) {
         auto xIter = argsMap.find('X');
         auto yIter = argsMap.find('Y');
         auto zIter = argsMap.find('Z');
+        auto fIter = argsMap.find('F');
         auto endIter = argsMap.end();
 
-        if(xIter != endIter) {
+        if (xIter != endIter) {
             bufcmd.arg1 = xIter->second;
         }
         if (yIter != endIter) {
@@ -67,6 +69,11 @@ Command parseGCode(std::string gcode) {
         if (zIter != endIter) {
             bufcmd.arg3 = zIter->second;
         }
+        if (fIter != endIter) {
+            bufcmd.arg4 = fIter->second;
+        } else {
+            bufcmd.arg4 = atof(configManager.get("defRpm").c_str());
+        }
 
         if (strcmp(command, "G00") == 0) {
             bufcmd.type = CommandType::G00;
diff --git a/Firmware/MotorControl/include/Config.h b/Firmware/MotorControl/include/Config.h
index 0fa366e..76e03ed 100644
--- a/Firmware/MotorControl/include/Config.h
+++ b/Firmware/MotorControl/include/Config.h
@@ -3,4 +3,8 @@
 
 constexpr unsigned int stsUpdDelay{10};
 
+constexpr float defRPM{2}, defEggLength{60}, defEggDia{45}, xLimit{85};
+constexpr float defYDegPerMM{360 / (PI * defEggDia)},
+    defXDegPerMM{xLimit / defEggLength};
+
 #endif
\ No newline at end of file
diff --git a/Firmware/MotorControl/include/Globals.h b/Firmware/MotorControl/include/Globals.h
index 4257a0b..9040a98 100644
--- a/Firmware/MotorControl/include/Globals.h
+++ b/Firmware/MotorControl/include/Globals.h
@@ -1,29 +1,25 @@
 #include <Arduino.h>
 #include "Pen.h"
 #include "Stepper.h"
+#include "Config.h"
 
 #ifndef GLOBALS_H
 #define GLOBALS_H
 
-#define EGG_DIA 45.0
-#define Y_DEGREES_PER_MM (360 / (PI * EGG_DIA))
-
-#define X_LIMIT 85.0
-#define EGG_LENGTH 60.0
-#define X_DEGREES_PER_MM (X_LIMIT / EGG_LENGTH)
-
 #define STEPS_PER_REVOLUTION (360/1.8) * 32
-#define DEF_RPM 2
 
-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);
+Stepper eggStepper(6, 5, STEPS_PER_REVOLUTION, 0, defYDegPerMM);
+Stepper servoStepper(4, 3, STEPS_PER_REVOLUTION, xLimit,
+                     defXDegPerMM);
 
 Pen pen(7, 120, 180);
 
 unsigned int eggStepperDelay;
 unsigned int servoStepperDelay;
 
+unsigned int eggDia;
+unsigned int eggLength;
+
 float eggStepperRPM;
 float servoStepperRPM;
 
diff --git a/Firmware/MotorControl/src/main.cpp b/Firmware/MotorControl/src/main.cpp
index 24d4da1..e7974b7 100644
--- a/Firmware/MotorControl/src/main.cpp
+++ b/Firmware/MotorControl/src/main.cpp
@@ -7,7 +7,7 @@
 #include "common/Commands.h"
 #include "common/Status.h"
 
-int curRPM = DEF_RPM;
+int curRPM = defRPM;
 int adjustDelay = 100;
 bool needAdjust;
 
@@ -95,6 +95,10 @@ void execCommand() {
             }
         }
 
+        if (!isnan(command.arg4)) {
+            curRPM = command.arg4;
+        }
+
         adjustRPM();
     }
 
@@ -113,7 +117,7 @@ void setup() {
     OCR2A = 250;
     TCCR2A |= (1 << WGM20) | (1 << CS22);
     TIMSK2 |= (1 << OCIE2A);
-    servoStepper.setPos(X_LIMIT);
+    servoStepper.setPos(xLimit);
     pen.init();
 }