diff --git a/src/Dozer/Dozer.ino b/src/Dozer/Dozer.ino
index 9690625..4d77b9f 100644
--- a/src/Dozer/Dozer.ino
+++ b/src/Dozer/Dozer.ino
@@ -8,11 +8,11 @@
 #include <Timino.h>
 #include <StepperMotor.h>
 
-#define MIN_SPEED 130
+#define MIN_SPEED 90
 #define DEFAULT_SPEED 180
 #define MAX_SPEED 255
 
-#define DIAGONAL_THRESHOLD 80
+#define DIAGONAL_THRESHOLD 30
 
 #define DEBUG false
 
@@ -86,7 +86,7 @@
 //                       _________________________________________________                   _________________________________________________        ___________________          //
 //                       top                       bottom              stby                  top                       bottom             stby        from             to          //
 //              _______________________    _______________________    _______      _______________________    _______________________    _______     _______    ________________   //
-Mecanum mecanum(INA2_1, INA1_1, PWMA_1,    INB1_1, INB2_1, PWMB_1,    STBY_1,      INA1_2, INA2_2, PWMA_2,    INB2_2, INB1_2, PWMB_2,    STBY_2,     0, 511,    0, DEFAULT_SPEED); //
+Mecanum mecanum(INA2_1, INA1_1, PWMA_1,    INB1_1, INB2_1, PWMB_1,    STBY_1,      INA1_2, INA2_2, PWMA_2,    INB2_2, INB1_2, PWMB_2,    STBY_2,     0, 255,    0, DEFAULT_SPEED); //
 
 #include <Mecaside.h>
 Mecaside left(Left, 255);
@@ -102,7 +102,7 @@ LedRGB bluetoothLed(RGBA_1, RGBB_1, RGBC_1, true);
 LedRGB led2(RGBA_2, RGBB_2, RGBC_2, true);
 Digit digit(DIGITB, DIGITA, 7);
 
-SingleServo rackServo(SERVO_2, 130, 80);
+SingleServo rackServo(SERVO_3, 100, 140);
 
 StepperMotor rackStepper(STEP, DIR, LMTS_1, false, false, 3000, 2); /*, LMTS_2 */
 
@@ -237,34 +237,34 @@ void loop() {
         const int joystickY = bluetooth.message.get(JOYSTICK_LEFT_Y);
         if (joystickY > 255 && speedStatus != 1) {
 #if DEBUG
-          Serial.println("boost");
 #endif
+          Serial.println("boost");
           mecanum.setMaxSpeed(MAX_SPEED);
           speedStatus = 1;
         } else if (joystickY == 255 && speedStatus != 0) {
 #if DEBUG
-          Serial.println("default");
 #endif
+          Serial.println("default");
           mecanum.setMaxSpeed(DEFAULT_SPEED);
           speedStatus = 0;
         } else if (joystickY < 255 && speedStatus != 2) {
 #if DEBUG
-          Serial.println("slow");
 #endif
+          Serial.println("slow");
           mecanum.setMaxSpeed(MIN_SPEED);
           speedStatus = 2;
         }
       }
       // Simple
       {
-        left.move(constrain((-(bluetooth.message.get(JOYSTICK_RIGHT_X) - 255) + (bluetooth.message.get(JOYSTICK_LEFT_X) - 255)) + 255, 0, 512));
-        right.move(constrain((-(bluetooth.message.get(JOYSTICK_RIGHT_X) - 255) - (bluetooth.message.get(JOYSTICK_LEFT_X) - 255)) + 255, 0, 512));
+        left.move(constrain((-(bluetooth.message.get(JOYSTICK_RIGHT_X) - 255) + (bluetooth.message.get(JOYSTICK_LEFT_X) - 255)), -255, 255));
+        right.move(constrain((-(bluetooth.message.get(JOYSTICK_RIGHT_X) - 255) - (bluetooth.message.get(JOYSTICK_LEFT_X) - 255)), -255, 255));
       }
       // Others
       {
-        mecanum.sideway(bluetooth.message.get(JOYSTICK_RIGHT_Y));
+        mecanum.sideway(bluetooth.message.get(JOYSTICK_RIGHT_Y) - 255);
         if (abs(bluetooth.message.get(JOYSTICK_RIGHT_X) - 255) > DIAGONAL_THRESHOLD && abs(bluetooth.message.get(JOYSTICK_RIGHT_Y) - 255) > DIAGONAL_THRESHOLD) {
-          mecanum.diagonal(bluetooth.message.get(JOYSTICK_RIGHT_X), bluetooth.message.get(JOYSTICK_RIGHT_Y));
+          mecanum.diagonal(bluetooth.message.get(JOYSTICK_RIGHT_X) - 255, bluetooth.message.get(JOYSTICK_RIGHT_Y) - 255);
         }
       }
     }
diff --git a/test/BluetoothTest/BluetoothTest.ino b/test/BluetoothTest/BluetoothTest.ino
index d538b75..6f69b1c 100644
--- a/test/BluetoothTest/BluetoothTest.ino
+++ b/test/BluetoothTest/BluetoothTest.ino
@@ -3,7 +3,7 @@
 #define NUM_VALUES 9
 
 int sizes[NUM_VALUES] = { 1, 4, 8, 9, 9, 1, 9, 9, 1 };
-Bluetooth bluetooth(&Serial1, sizes, NUM_VALUES);
+Bluetooth bluetooth(&Serial1, sizes, NUM_VALUES, '.');
 
 void setup() {
   Serial1.begin(9600);