diff --git a/mirte_telemetrix/config/mirte_user_config.yaml b/mirte_telemetrix/config/mirte_user_config.yaml
index a4de7df..3a6f739 100644
--- a/mirte_telemetrix/config/mirte_user_config.yaml
+++ b/mirte_telemetrix/config/mirte_user_config.yaml
@@ -2,7 +2,7 @@ device:
   mirte:
     type: breadboard
     mcu: pico
-    max_frequency: 100
+    max_frequency: 10
 distance:
   left:
     name: left
@@ -10,7 +10,7 @@ distance:
     pins:
       trigger: 7
       echo: 6
-motor:
+encoder:
   left:
     name: left
     device: mirte
diff --git a/mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py b/mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py
index 24435d0..463e19e 100755
--- a/mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py
+++ b/mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py
@@ -8,6 +8,8 @@
 import signal
 import aiorospy
 import io
+from inspect import signature
+
 
 # Import the right Telemetrix AIO
 devices = rospy.get_param('/mirte/device')
@@ -336,6 +338,7 @@ def get_data(self, req):
         return GetDistanceResponse(self.last_publish_value.range)
 
     async def start(self):
+        await self.board.set_scan_delay(100)
         await self.board.set_pin_mode_sonar(self.pins["trigger"], self.pins["echo"], self.publish_data)
 
     async def publish_data(self, data):
@@ -407,7 +410,10 @@ def get_data(self, req):
         return GetEncoderResponse(self.last_publish_value.value)
 
     async def start(self):
-        await self.board.set_pin_mode_encoder(self.pins["pin"], 2, self.ticks_per_wheel, self.publish_data)
+        if("encoder_pin" in signature(self.board.set_pin_mode_encoder).parameters):
+            await self.board.set_pin_mode_encoder(self.pins["pin"], 2, self.ticks_per_wheel, self.publish_data)
+        else:
+            await self.board.set_pin_mode_encoder(self.pins["pin"], 0, self.publish_data, False)
         rospy.Timer(rospy.Duration(1.0/10.0), self.publish_speed_data)
 
     def publish_speed_data(self, event=None):