diff --git a/Shield dimentions.sketch b/Shield dimentions.sketch
deleted file mode 100644
index fcd6a92..0000000
Binary files a/Shield dimentions.sketch and /dev/null differ
diff --git a/pygame_control.py b/pygame_control.py
index a5aacc9..b177e27 100644
--- a/pygame_control.py
+++ b/pygame_control.py
@@ -13,8 +13,8 @@ class Odrive:
     def set_zero(self):
         self.drive.axis0.encoder.set_linear_count(0)
         self.drive.axis1.encoder.set_linear_count(0)
-        self.drive.axis0.controller.config.input_mode = 3
-        self.drive.axis1.controller.config.input_mode = 3
+        self.drive.axis0.controller.config.input_mode = 1
+        self.drive.axis1.controller.config.input_mode = 1
         # self.drive.axis0.trap_traj.config.vel_limit = 100
         # self.drive.axis1.trap_traj.config.vel_limit = 100
         # self.drive.axis0.trap_traj.config.accel_limit = 50
@@ -25,8 +25,8 @@ class Odrive:
         # self.drive.axis1.controller.config.inertia = 0.02
         self.drive.axis0.controller.config.input_filter_bandwidth = 30
         self.drive.axis1.controller.config.input_filter_bandwidth = 30
-        self.drive.axis0.motor.config.current_lim = 70
-        self.drive.axis1.motor.config.current_lim = 70
+        self.drive.axis0.motor.config.current_lim = 65
+        self.drive.axis1.motor.config.current_lim = 65
         self.drive.axis0.motor.config.current_lim_margin = 30
         self.drive.axis1.motor.config.current_lim_margin = 30
 
@@ -68,7 +68,9 @@ class Controller:
         self.a0_t = 0
         self.a1_t = 0
         self.v_max = self.drive.get_max_speed()
-        self.y_multiplier = 1.1
+        self.y_multiplier = 1.05
+        self.x_multiplier = 1.95
+        self.x_offset = 980
         # self.y_multiplier = 0.7
 
     def calculate_angles(self, large_x, large_y):
@@ -123,7 +125,7 @@ class Controller:
             pygame.display.update()
 
             if self.armed:
-                self.a0, self.a1 = self.calculate_angles(mouse_y*self.y_multiplier, 990 - mouse_x*2)
+                self.a0, self.a1 = self.calculate_angles(self.x_offset - mouse_x * self.x_multiplier, mouse_y*self.y_multiplier)
                 self.drive.goto(self.a0, self.a1)
 
         self.drive.set_idle()
diff --git a/stress_test.py b/stress_test.py
new file mode 100644
index 0000000..b9132c9
--- /dev/null
+++ b/stress_test.py
@@ -0,0 +1,27 @@
+import pygame
+import odrive
+from odrive.enums import *
+import time
+from pygame_control import Odrive
+
+points = [[1.147, 2.023], [1.397, 3.556], [-0.121, 3.214], [-0.642, 1.584]]
+
+class StressTest:
+    def __init__(self) -> None:
+        self.drive = Odrive()
+        self.drive.drive.axis0.controller.config.vel_limit = 30
+        self.drive.drive.axis1.controller.config.vel_limit = 30
+        self.drive.set_zero()
+        self.drive.set_idle()
+
+    def start(self):
+        self.drive.set_closed_loop()
+        while True:
+            print(f"FET0: {self.drive.drive.axis0.fet_thermistor.temperature}")
+            print(f"FET1: {self.drive.drive.axis1.fet_thermistor.temperature}")
+            for p in points:
+                self.drive.goto(p[0], p[1])
+                time.sleep(0.3)
+
+a = StressTest()
+a.start()