diff --git a/Inc/main.h b/Inc/main.h
index 55ec8112..d53122f3 100644
--- a/Inc/main.h
+++ b/Inc/main.h
@@ -52,6 +52,7 @@
 /* Private define ------------------------------------------------------------*/
 #define TIM_CLOCK_HZ 168000000
 #define TIM_PERIOD_CLOCKS 8192
+// #define TIM_PERIOD_CLOCKS 4096
 #define TIM_DEADTIME_CLOCKS 20
 
 #define M0_nCS_Pin GPIO_PIN_13
diff --git a/Makefile b/Makefile
index d7e8518c..29501960 100644
--- a/Makefile
+++ b/Makefile
@@ -14,6 +14,7 @@ TARGET = ODriveFirmware
 DEBUG = 1
 # optimization
 # OPT = -O3 -ffast-math -flto
+# OPT = -O3 -ffast-math
 OPT = -O0 -ffast-math
 
 #######################################
diff --git a/MotorControl/low_level.c b/MotorControl/low_level.c
index 9228e526..97a1dc94 100644
--- a/MotorControl/low_level.c
+++ b/MotorControl/low_level.c
@@ -528,8 +528,11 @@ void motor_thread(void const * argument) {
 
     float test_current = 4.0f;
     float R = measure_phase_resistance(motor, test_current, 1.0f);
-    // scan_motor(motor, 10.0f, test_current * R);
-    scan_motor(motor, 10.0f, 0.2f);
+    if (motor == &motors[0]) {
+        scan_motor(motor, 50.0f, test_current * R);
+    } else {
+        scan_motor(motor, 10.0f, test_current * R);
+    }
     // float L = measure_phase_inductance(motor, -1.0f, 1.0f);
 
     //De-energize motor
diff --git a/Src/freertos.c b/Src/freertos.c
index 8aafd1d2..9e9f7a2d 100644
--- a/Src/freertos.c
+++ b/Src/freertos.c
@@ -114,7 +114,7 @@ void StartDefaultTask(void const * argument)
   init_motor_control();
 
   // Start motor threads
-  // osThreadCreate(osThread(task_motor_0), &motors[0]);
+  osThreadCreate(osThread(task_motor_0), &motors[0]);
   osThreadCreate(osThread(task_motor_1), &motors[1]);
 
   //If we get to here, then the default task is done.