diff --git a/conf/p50b.txt b/conf/p50b.txt
new file mode 100644
index 00000000..e49dbf0b
--- /dev/null
+++ b/conf/p50b.txt
@@ -0,0 +1,13 @@
+link pid
+link pmsm
+link enc_fb0
+link misc
+conf0.r = 0.4
+conf0.l = 0.01
+conf0.j = 0.0001
+conf0.polecount = 2
+conf0.max_force = 5.7
+conf0.max_ac_cur = 5
+conf0.mot_fb_res = 16384
+conf0.mot_fb_offset = -0.57
+conf0.mot_fb_rev = 1
\ No newline at end of file
diff --git a/shared/comps/fb_switch.c b/shared/comps/fb_switch.c
index bbe556c0..4cf517de 100644
--- a/shared/comps/fb_switch.c
+++ b/shared/comps/fb_switch.c
@@ -74,19 +74,27 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
   float com_abs_pos = PIN(com_abs_pos);
   float joint_abs_pos = PIN(joint_abs_pos);
 
+  float mot_offset = PIN(mot_offset);
+  float com_offset = PIN(com_offset);
+  float joint_offset = PIN(joint_offset);
+  
+
   if(PIN(mot_rev) > 0.0){
     mot_pos *= -1.0;
     mot_abs_pos *= -1.0;
+    mot_offset *= -1.0;
   }
 
   if(PIN(com_rev) > 0.0){
     com_pos *= -1.0;
     com_abs_pos *= -1.0;
+    com_offset *= -1.0;
   }
 
   if(PIN(joint_rev) > 0.0){
     joint_pos *= -1.0;
     joint_abs_pos *= -1.0;
+    joint_offset *= -1.0;
   }
 
   PIN(pos_fb)   = mod(mot_pos + ctx->cmd_offset);
@@ -102,11 +110,11 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
     PIN(state) = 1.0;
     if(PIN(joint_state) >= 2.0 && ctx->current_com_pos > 3.0) {
       ctx->current_com_pos = 3;
-      ctx->com_offset      = minus(mod((joint_abs_pos + PIN(joint_offset)) * PIN(polecount) / PIN(mot_joint_ratio)), mod(mot_pos * PIN(polecount) / PIN(mot_polecount)));
+      ctx->com_offset      = minus(mod((joint_abs_pos + joint_offset) * PIN(polecount) / PIN(mot_joint_ratio)), mod(mot_pos * PIN(polecount) / PIN(mot_polecount)));
     }
     if(PIN(com_state) >= 2.0 && ctx->current_com_pos > 2.0) {
       ctx->current_com_pos = 2;
-      ctx->com_offset      = minus(mod((com_abs_pos + PIN(com_offset)) * PIN(polecount) / PIN(com_polecount)), mod(mot_pos * PIN(polecount) / PIN(mot_polecount)));
+      ctx->com_offset      = minus(mod((com_abs_pos + com_offset) * PIN(polecount) / PIN(com_polecount)), mod(mot_pos * PIN(polecount) / PIN(mot_polecount)));
     }
     if(PIN(mot_state) >= 2.0 && ctx->current_com_pos > 1.0) {
       ctx->current_com_pos = 1;
@@ -130,7 +138,7 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
         if(PIN(joint_state) != 3.0) {
           PIN(com_fb) = mod(mot_pos * PIN(polecount) / PIN(mot_polecount) + ctx->com_offset);
         } else {
-          PIN(com_fb) = mod((joint_abs_pos + PIN(joint_offset)) * PIN(polecount));
+          PIN(com_fb) = mod((joint_abs_pos + joint_offset) * PIN(polecount));
         }
         break;
 
@@ -138,7 +146,7 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
         if(PIN(com_state) != 3.0) {
           PIN(com_fb) = mod(mot_pos * PIN(polecount) / PIN(mot_polecount) + ctx->com_offset);
         } else {
-          PIN(com_fb) = mod((com_abs_pos + PIN(com_offset)) * PIN(polecount) / PIN(com_polecount));
+          PIN(com_fb) = mod((com_abs_pos + com_offset) * PIN(polecount) / PIN(com_polecount));
         }
         break;
 
@@ -146,7 +154,7 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
         if(PIN(mot_state) != 3.0) {
           PIN(state) = 0.0;
         } else {
-          PIN(com_fb) = mod((mot_abs_pos + PIN(mot_offset)) * PIN(polecount) / PIN(mot_polecount));
+          PIN(com_fb) = mod((mot_abs_pos + mot_offset) * PIN(polecount) / PIN(mot_polecount));
         }
         break;