diff --git a/App/src/GcodeSender.tsx b/App/src/GcodeSender.tsx
index f64f47e..dcbdf23 100644
--- a/App/src/GcodeSender.tsx
+++ b/App/src/GcodeSender.tsx
@@ -62,7 +62,7 @@ export class GcodeSenderComponent extends React.PureComponent<
         const gcodeLinesQueue = [...this.state.gcodeLinesQueue];
         const gcodeLinesSent = [...this.state.gcodeLinesSent];
         const { executing } = this.state;
-        if (executing && status.commandQueue < 5) {
+        if (executing && status.commandQueue < 1) {
             if (gcodeLinesQueue && gcodeLinesQueue.length > 0) {
                 const command = gcodeLinesQueue.shift();
                 console.log(parseCommand(command));
diff --git a/App/src/GcodeVisualiser.tsx b/App/src/GcodeVisualiser.tsx
index de05299..10630ed 100644
--- a/App/src/GcodeVisualiser.tsx
+++ b/App/src/GcodeVisualiser.tsx
@@ -49,7 +49,7 @@ export default class GcodeVisualiser extends React.PureComponent<
                                 : "blue"
                         }
                         strokeWidth={
-                            (command.Z ? command.Z : lastPos.eng) ? 2 : 1
+                            (command.Z ? command.Z : lastPos.eng) ? 1 : 0.5
                         }
                     />
                 );
@@ -92,7 +92,7 @@ export default class GcodeVisualiser extends React.PureComponent<
                                 : "blue"
                         }
                         strokeWidth={
-                            (command.Z ? command.Z : lastPos.eng) ? 2 : 1
+                            (command.Z ? command.Z : lastPos.eng) ? 1 : 0.5
                         }
                     />
                 );
diff --git a/Firmware/EggbotWireless/src/WebAPI.cpp b/Firmware/EggbotWireless/src/WebAPI.cpp
index d1f7e6d..eb30406 100644
--- a/Firmware/EggbotWireless/src/WebAPI.cpp
+++ b/Firmware/EggbotWireless/src/WebAPI.cpp
@@ -17,6 +17,7 @@ String WebAPI::getStatusJson() {
     doc["mmS"] = status.mmS;
     doc["pEng"] = status.pEng;
     doc["xLim"] = status.xLim;
+    doc["batt"] = analogRead(A0);
 
     String out;
     serializeJson(doc, out);
diff --git a/Firmware/MotorControl/include/Config.h b/Firmware/MotorControl/include/Config.h
index 76e03ed..8e7c3c9 100644
--- a/Firmware/MotorControl/include/Config.h
+++ b/Firmware/MotorControl/include/Config.h
@@ -6,5 +6,6 @@ constexpr unsigned int stsUpdDelay{10};
 constexpr float defRPM{2}, defEggLength{60}, defEggDia{45}, xLimit{85};
 constexpr float defYDegPerMM{360 / (PI * defEggDia)},
     defXDegPerMM{xLimit / defEggLength};
+constexpr int adjustDelay{100};
 
 #endif
\ No newline at end of file
diff --git a/Firmware/MotorControl/src/Pen.cpp b/Firmware/MotorControl/src/Pen.cpp
index 95bc83c..9c95e44 100644
--- a/Firmware/MotorControl/src/Pen.cpp
+++ b/Firmware/MotorControl/src/Pen.cpp
@@ -31,4 +31,4 @@ void Pen::init() {
 
 bool Pen::getEngaged() { return engaged; }
 
-Pen pen(7, 100, 175);
+Pen pen(7, 100, 180);
diff --git a/Firmware/MotorControl/src/Stepper.cpp b/Firmware/MotorControl/src/Stepper.cpp
index 3c2fd63..acc85d0 100644
--- a/Firmware/MotorControl/src/Stepper.cpp
+++ b/Firmware/MotorControl/src/Stepper.cpp
@@ -1,8 +1,9 @@
 #include "Stepper.h"
 #include <Arduino.h>
+#include <util/atomic.h>
 
-Stepper::Stepper(int stepPin, int dirPin,
-                 int stepsPerRevolution, int limit, float degreesPerMM)
+Stepper::Stepper(int stepPin, int dirPin, int stepsPerRevolution, int limit,
+                 float degreesPerMM)
     : dirPin(dirPin),
       stepPin(stepPin),
       stepsPerRevolution(stepsPerRevolution),
@@ -16,7 +17,7 @@ void Stepper::doStep() {
     if (remainingSteps > 0) {
         digitalWrite(dirPin, direction);
         digitalWrite(stepPin, 1);
-        delayMicroseconds(2);
+        delayMicroseconds(10);
         digitalWrite(stepPin, 0);
         remainingSteps--;
     }
diff --git a/Firmware/MotorControl/src/main.cpp b/Firmware/MotorControl/src/main.cpp
index 55b3757..98677b9 100644
--- a/Firmware/MotorControl/src/main.cpp
+++ b/Firmware/MotorControl/src/main.cpp
@@ -8,7 +8,6 @@
 #include "common/Status.h"
 
 int curRPM = defRPM;
-int adjustDelay = 100;
 bool needAdjust;
 
 int calculateDelay(float rpm, int stepsPerRevolution) {
@@ -23,20 +22,14 @@ void adjustRPM() {
         unsigned int stepsY = eggStepper.getRemainingSteps();
         if (stepsX != 0 && stepsY != 0) {
             if (stepsX > stepsY) {
-                float rpm = (float)curRPM * (float)stepsY / (float)stepsX;
-                eggStepperRPM = rpm;
+                eggStepperRPM = (float)curRPM * (float)stepsY / (float)stepsX;
             } else if (stepsY > stepsX) {
-                float rpm = (float)curRPM * (float)stepsX / (float)stepsY;
-                servoStepperRPM = rpm;
+                servoStepperRPM = (float)curRPM * (float)stepsX / (float)stepsY;
             }
         }
     }
-    int newEggStepperDelay =
-        calculateDelay(eggStepperRPM, STEPS_PER_REVOLUTION);
-    int newServoStepperDelay =
-        calculateDelay(servoStepperRPM, STEPS_PER_REVOLUTION);
-    eggStepperDelay = newEggStepperDelay;
-    servoStepperDelay = newServoStepperDelay;
+    eggStepperDelay = calculateDelay(eggStepperRPM, STEPS_PER_REVOLUTION);
+    servoStepperDelay = calculateDelay(servoStepperRPM, STEPS_PER_REVOLUTION);
 }
 
 Command command;
@@ -125,7 +118,7 @@ volatile bool armed = false;
 /*
 We use our own timer for more precise timings
 And it ticks only when armed, to ensure
-that updateExecution() doesn't skip a single tick
+that steppersRoutine() doesn't skip a single tick
  */
 ISR(TIMER2_COMPA_vect) {
     if (armed) {