diff --git a/steper/arduino/MultiStepperTest/MultiStepperTest.ino b/steper/arduino/MultiStepperTest/MultiStepperTest.ino
index a861897..452746e 100644
--- a/steper/arduino/MultiStepperTest/MultiStepperTest.ino
+++ b/steper/arduino/MultiStepperTest/MultiStepperTest.ino
@@ -19,15 +19,15 @@
 #define Z_MAX_PIN          19
 
 // Joint 3
-#define Y_STEP_PIN         40
-#define Y_DIR_PIN          42
+#define Y_STEP_PIN         48
+#define Y_DIR_PIN          46
 #define Y_ENABLE_PIN       56
 #define Y_MIN_PIN          14
 #define Y_MAX_PIN          15
 
 // Joint 4
-#define X_STEP_PIN 54
-#define X_DIR_PIN 55
+#define X_STEP_PIN 40
+#define X_DIR_PIN 42
 #define X_ENABLE_PIN 38
 
 // Joint 5 
@@ -51,14 +51,14 @@ MultiStepper steppers;
 unsigned int x = 1000;
 
 void setup() {
-  Serial.begin(250000);
+  Serial.begin(115200);
 
   // Configure each stepper
-  joint1.setMaxSpeed(1500);
-  joint2.setMaxSpeed(750);
-  joint3.setMaxSpeed(2000);
-  joint4.setMaxSpeed(500);
-  joint5.setMaxSpeed(1000);
+  joint1.setMaxSpeed(100);
+  joint2.setMaxSpeed(200);
+  joint3.setMaxSpeed(500);
+  joint4.setMaxSpeed(300);
+  joint5.setMaxSpeed(80);
 
   // Then give them to MultiStepper to manage
   steppers.addStepper(joint1);
@@ -66,28 +66,73 @@ void setup() {
   steppers.addStepper(joint3);
   steppers.addStepper(joint4);
   steppers.addStepper(joint5);
+
+  pinMode(22, OUTPUT);
+  pinMode(26, OUTPUT);
+  pinMode(24, INPUT);
+  digitalWrite(22,0);
+  digitalWrite(26,0);
+
 }
 
+/// link1 -960*4
+/// link2 -2230*4
+/// link3 -2780*4
+/// link4 790*4
+/// link5 220*4
+
 void loop() {
-  long positions[5]; // Array of desired stepper positions
+  if(digitalRead(24) == 1){
+    Serial.print("enter test mode");
+    Serial.println();
+    
+    long positions[5]; // Array of desired stepper positions
 
-  // Back of the envelope calculation for microsteps/revolution, where positions[i] is the number of steps (or microsteps).
-  positions[0] = 0; //4100 microsteps is 1/8 revolutions ----> 32800 microsteps/rev
-  positions[1] = 0; //2000 is 40/360 revolutions ---> 18000 microsteps/rev
-  positions[2] = 0; //4000 is 20/360 revolutions ---> 72000 microsteps/rev
-  positions[3] = 0; //820 is 1/4 revolution (200steps/revolution * 16microsteps/step (since microstepping) ~= 32800 microsteps/rev)
-  positions[4] = 0; //2000 is 50/360 revolution ---> 14400
-  
-  steppers.moveTo(positions);
-  steppers.runSpeedToPosition(); // Blocks until all are in position
-  delay(2000);
-  // Move to a different coordinate
-  positions[0] = 0;
-  positions[1] = 3000;
-  positions[2] = 0;
-  positions[3] = 0;
-  positions[4] = 0;
-  steppers.moveTo(positions);
-  steppers.runSpeedToPosition(); // Blocks until all are in position
-  delay(2000);
+    // Back of the envelope calculation for microsteps/revolution, where positions[i] is the number of steps (or microsteps).
+    positions[0] = 0; //4100 microsteps is 1/8 revolutions ----> 32800 microsteps/rev
+    positions[1] = 0; //2000 is 40/360 revolutions ---> 18000 microsteps/rev
+    positions[2] = 0; //4000 is 20/360 revolutions ---> 72000 microsteps/rev
+    positions[3] = 0; //820 is 1/4 revolution (200steps/revolution * 16microsteps/step (since microstepping) ~= 32800 microsteps/rev)
+    positions[4] = 0; //2000 is 50/360 revolution ---> 14400
+
+    Serial.print("move to ");
+    Serial.println();
+    Serial.print(positions[0]);
+    Serial.println();
+    Serial.print(positions[1]);
+    Serial.println();
+    Serial.print(positions[2]);
+    Serial.println();
+    Serial.print(positions[3]);
+    Serial.println();
+    Serial.print(positions[0]);
+    Serial.println();
+    
+    steppers.moveTo(positions);
+    steppers.runSpeedToPosition(); // Blocks until all are in position
+    delay(1000);
+    // Move to a different coordinate
+    positions[0] = 0;
+    positions[1] = 0;
+    positions[2] = 0;
+    positions[3] = 0;
+    positions[4] = 220;
+    steppers.moveTo(positions);
+    steppers.runSpeedToPosition(); // Blocks until all are in position
+    delay(1000);
+
+    Serial.print("move to ");
+    Serial.println();
+    Serial.print(positions[0]);
+    Serial.println();
+    Serial.print(positions[1]);
+    Serial.println();
+    Serial.print(positions[2]);
+    Serial.println();
+    Serial.print(positions[3]);
+    Serial.println();
+    Serial.print(positions[0]);
+    Serial.println();
+    
+  }
 }