diff --git a/shared/f3hw.h b/shared/f3hw.h
index 954f56bb..1ccfe298 100644
--- a/shared/f3hw.h
+++ b/shared/f3hw.h
@@ -1,5 +1,5 @@
 //stmbl
-#define AREF 3.338  // analog reference voltage
+#define AREF 3.3  // analog reference voltage
 
 #define VDIVUP 20000.0 * 2.0  //HV div pullup R1,R12
 #define VDIVDOWN 1000.0  //HV div pulldown R2,R9
diff --git a/stm32f303/src/comps/io.c b/stm32f303/src/comps/io.c
index 940a5ef3..8734d017 100644
--- a/stm32f303/src/comps/io.c
+++ b/stm32f303/src/comps/io.c
@@ -162,28 +162,27 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
     in1 += adc_12_buf[2 * i].in1 + adc_12_buf[2 * i + 1].in1;
     bemf0 += adc_12_buf[2 * i].bemf0 + adc_12_buf[2 * i + 1].bemf0;
     bemf1 += adc_12_buf[2 * i].bemf1 + adc_12_buf[2 * i + 1].bemf1;
-    ian += adc_34_buf[2 * i].shunt_a0 + adc_34_buf[2 * i].shunt_a1 + adc_34_buf[2 * i].shunt_a2 + adc_34_buf[2 * i].shunt_a3;
-    iap += adc_34_buf[2 * i + 1].shunt_a0 + adc_34_buf[2 * i + 1].shunt_a1 + adc_34_buf[2 * i + 1].shunt_a2 + adc_34_buf[2 * i + 1].shunt_a3;
-    ibn += adc_34_buf[2 * i].shunt_b0 + adc_34_buf[2 * i].shunt_b1 + adc_34_buf[2 * i].shunt_b2 + adc_34_buf[2 * i].shunt_b3;
-    ibp += adc_34_buf[2 * i + 1].shunt_b0 + adc_34_buf[2 * i + 1].shunt_b1 + adc_34_buf[2 * i + 1].shunt_b2 + adc_34_buf[2 * i + 1].shunt_b3;
-    in += adc_12_buf[2 * i].shunt_low0 + adc_12_buf[2 * i].shunt_low1;
-    ip += adc_12_buf[2 * i + 1].shunt_low0 + adc_12_buf[2 * i + 1].shunt_low1;
+    ian += adc_34_buf[2 * i].shunt_a0;// + adc_34_buf[2 * i].shunt_a1 + adc_34_buf[2 * i].shunt_a2 + adc_34_buf[2 * i].shunt_a3;
+    iap += adc_34_buf[2 * i + 1].shunt_a0;// + adc_34_buf[2 * i + 1].shunt_a1 + adc_34_buf[2 * i + 1].shunt_a2 + adc_34_buf[2 * i + 1].shunt_a3;
+    ibn += adc_34_buf[2 * i].shunt_b0;// + adc_34_buf[2 * i].shunt_b1 + adc_34_buf[2 * i].shunt_b2 + adc_34_buf[2 * i].shunt_b3;
+    ibp += adc_34_buf[2 * i + 1].shunt_b0;// + adc_34_buf[2 * i + 1].shunt_b1 + adc_34_buf[2 * i + 1].shunt_b2 + adc_34_buf[2 * i + 1].shunt_b3;
+    in += adc_12_buf[2 * i].shunt_low0;// + adc_12_buf[2 * i].shunt_low1;
+    ip += adc_12_buf[2 * i + 1].shunt_low0;// + adc_12_buf[2 * i + 1].shunt_low1;
   }
 
-
-  PIN(hv_temp) = r2temp(HV_R(ADC(hv_temp / 20.0)));//258.0 - hv_temp * 3.3 / ARES * 114.4 * ADC_OVER / ADC_COUNT;
+  PIN(hv_temp) = r2temp(HV_R(ADC(hv_temp * ADC_OVER / ADC_COUNT)));
   PIN(dc_link) = dc_link * 3.3 / ARES * (20.0 + 1.0) / 1.0 * ADC_OVER / ADC_COUNT;
   PIN(bemf0)   = bemf0 * 3.3 / ARES * (20.0 + 1.0) / 1.0 * ADC_OVER / ADC_COUNT;
   PIN(bemf1)   = bemf1 * 3.3 / ARES * (20.0 + 1.0) / 1.0 * ADC_OVER / ADC_COUNT;
   PIN(in0)     = in0 * 3.3 / ARES * (10.0 + 1.5) / 1.5 * ADC_OVER / ADC_COUNT;
   PIN(in1)     = in1 * 3.3 / ARES * (10.0 + 1.5) / 1.5 * ADC_OVER / ADC_COUNT;
 
-  PIN(iap) = AMP(iap * 2.0 * ADC_OVER / ADC_COUNT / 4.0, 8.0);
-  PIN(ian) = AMP(ian * 2.0 * ADC_OVER / ADC_COUNT / 4.0, 8.0);
-  PIN(ibp) = AMP(ibp * 2.0 * ADC_OVER / ADC_COUNT / 4.0, 8.0);
-  PIN(ibn) = AMP(ibn * 2.0 * ADC_OVER / ADC_COUNT / 4.0, 8.0);
-  PIN(ip)  = ip * 2.0 * ADC_OVER / ADC_COUNT / 2.0 * 3.3 / ARES;
-  PIN(in)  = in * 2.0 * ADC_OVER / ADC_COUNT / 2.0 * 3.3 / ARES;
+  PIN(iap) = AMP(iap * 2.0 * ADC_OVER / ADC_COUNT / 1.0, 8.0);
+  PIN(ian) = AMP(ian * 2.0 * ADC_OVER / ADC_COUNT / 1.0, 8.0);
+  PIN(ibp) = AMP(ibp * 2.0 * ADC_OVER / ADC_COUNT / 1.0, 8.0);
+  PIN(ibn) = AMP(ibn * 2.0 * ADC_OVER / ADC_COUNT / 1.0, 8.0);
+  PIN(ip)  = ip * ADC_OVER / ADC_COUNT * 3.3 / ARES;
+  PIN(in)  = in * ADC_OVER / ADC_COUNT * 3.3 / ARES;
   PIN(ia)  = PIN(iap) - PIN(ian);
   PIN(ib)  = PIN(ibp) - PIN(ibn);
 
diff --git a/stm32f303/src/main.c b/stm32f303/src/main.c
index 431df7e9..9360727a 100644
--- a/stm32f303/src/main.c
+++ b/stm32f303/src/main.c
@@ -359,6 +359,7 @@ int main(void) {
   load_comp(comp_by_name("vel"));
   load_comp(comp_by_name("vel"));
   load_comp(comp_by_name("ypid"));
+  load_comp(comp_by_name("trc"));
   load_comp(comp_by_name("hv"));
   load_comp(comp_by_name("curpid"));
 
@@ -370,6 +371,7 @@ int main(void) {
   hal_parse("pole0.rt_prio = 4.0");
   hal_parse("dq0.rt_prio = 5.0");
   hal_parse("ypid0.rt_prio = 6.0");
+  hal_parse("trc0.rt_prio = 6.5");
   hal_parse("curpid0.rt_prio = 7.0");
   hal_parse("idq0.rt_prio = 8.0");  
   hal_parse("hv0.rt_prio = 9.0");
@@ -404,11 +406,11 @@ int main(void) {
   hal_parse("curpid0.ld = 0.0038");
   hal_parse("curpid0.lq = 0.0038");
   hal_parse("curpid0.psi = 0.005");
-  hal_parse("curpid0.kp = 0.1");
-  hal_parse("curpid0.ki = 0.0001");
+  hal_parse("curpid0.kp = 0.6");
+  hal_parse("curpid0.ki = 0.0002");
   hal_parse("curpid0.ff = 1");
   hal_parse("curpid0.kind = 0");
-  hal_parse("curpid0.max_cur = 3.5");
+  hal_parse("curpid0.max_cur = 4");
   hal_parse("curpid0.pwm_volt = io0.dc_link");
 
   hal_parse("pole0.p = 50.0");
@@ -426,10 +428,14 @@ int main(void) {
   hal_parse("ypid0.pos_fb = map0.pos_out2");
   hal_parse("ypid0.vel_fb = vel1.vel");
   hal_parse("curpid0.iq_cmd = ypid0.out");
-
-  hal_parse("ypid0.max_vel = 30");
-  hal_parse("ypid0.max_acc = 200000");
-  hal_parse("ypid0.max_out = 3.5");
+  // hal_parse("trc0.in = ypid0.out");
+  // hal_parse("curpid0.iq_cmd = trc0.out");
+  // hal_parse("trc0.pos = map0.pos_out2");
+  // hal_parse("trc0.mult = 200");
+  
+  hal_parse("ypid0.max_vel = 50");
+  hal_parse("ypid0.max_acc = 10000");
+  hal_parse("ypid0.max_out = 4");
   hal_parse("ypid0.pos_p = 100");
   hal_parse("ypid0.vel_p = 0.1");
   hal_parse("ypid0.vel_i = 0.05");