diff --git a/odrive_server_main.py b/odrive_server_main.py
index 1033630..6cb5f24 100644
--- a/odrive_server_main.py
+++ b/odrive_server_main.py
@@ -2,6 +2,7 @@ import odrive
 from odrive.enums import *
 import time
 import socket
+import atexit
 
 class Odrive:
     def __init__(self) -> None:
@@ -18,6 +19,9 @@ class Odrive:
         self.drive.axis1.motor.config.current_lim = 70
         self.drive.axis0.motor.config.current_lim_margin = 30
         self.drive.axis1.motor.config.current_lim_margin = 30
+        self.drive.axis0.controller.config.vel_limit = 10
+        self.drive.axis1.controller.config.vel_limit = 10
+
 
     def set_zero(self) -> None:
         self.drive.axis0.encoder.set_linear_count(0)
@@ -40,15 +44,17 @@ class Odrive:
 class Server:
     def __init__(self) -> None:
         self.armed = False
+        self.armed = True
         self.x_offset = 0
-        self.x_multiplier = -98/10  # NOTE: Remove the /10  
+        self.x_multiplier = -98/1.1 # -98/10  # NOTE: Remove the /10
         self.y_offset = 0
-        self.y_multiplier = 85/10  # NOTE: Remove the /10  
+        self.y_multiplier = 85/1.1 # 85/10  # NOTE: Remove the /10
         self.sock = socket.socket(socket.AF_INET,socket.SOCK_DGRAM)
         self.udp_host = socket.gethostname()
         self.udp_port = 59200
         self.sock.bind((self.udp_host, self.udp_port))
         self.init_odrive()
+        atexit.register(self.at_exit)
         self.control_loop()
 
     def init_odrive(self) -> None:
@@ -56,11 +62,26 @@ class Server:
 
     def control_loop(self) -> None:
         while True:
-            data, _ = self.sock.recvfrom(1024)
-            print(f"Received Message: {data}, type: {type(data)}")
-            if self.armed:
-                angle_0, angle_1 = self.calculate_angles(data[0], data[1])
-                self.drive.goto_raw(angle_0, angle_1)
+            try:
+                data_encoded, _ = self.sock.recvfrom(1024)
+                data_dirty = data_encoded.decode()
+                data_clean = data_dirty.strip('(').strip(')').split(',')
+                target = [0, 0]
+                target[0] = float(data_clean[0])
+                target[1] = float(data_clean[1])
+                if target[0] > 1 or target[0] < 0 or target[1] > 1 or target[1] < 0:
+                    print(f"{target} outside 0 to 1 range!")
+                    exit(2)
+                print(f"Received Message: {data_clean}, type: {type(data_clean)}")
+                print(f"Parsed Message: {target}, type: {type(target)}")
+                angle_0, angle_1 = self.calculate_angles(target[0], target[1])
+                print(f"angles: {angle_0}, {angle_1}")
+                if self.armed:
+                    self.drive.goto_raw(angle_0, angle_1)
+            except Exception as e:
+                print(f"Exception: {e}")
+                self.drive.set_idle()
+                exit(1)
 
     def calculate_angles(self, target_pos_x, target_pos_y) -> float:
         x = (target_pos_x + self.x_offset) * self.x_multiplier
@@ -73,3 +94,8 @@ class Server:
         target_angle_1 = (y / distance_per_revolution) + (x / distance_per_revolution)
 
         return target_angle_0, target_angle_1
+
+    def at_exit(self):
+        self.drive.set_idle()
+
+s = Server()
\ No newline at end of file