diff --git a/2_Motor_Master/Motor_Master/Motor_Master/bldc.c b/2_Motor_Master/Motor_Master/Motor_Master/bldc.c
index d52ad43..a72c789 100644
--- a/2_Motor_Master/Motor_Master/Motor_Master/bldc.c
+++ b/2_Motor_Master/Motor_Master/Motor_Master/bldc.c
@@ -35,7 +35,7 @@ void motor_StateMachine(BLDCMotor_t* const motor)
 		case  MOTOR_IDLE:
 			//hri_tcc_write_PATTBUF_reg(motor->motor_param->pwm_desc->device.hw,  DISABLE_PATTERN);
 			motor->motor_state.previousstate = motor->motor_state.currentstate;
-			motor->motor_state.currentstate = MOTOR_VI_CTRL_STATE;
+			motor->motor_state.currentstate = MOTOR_PVI_CTRL_STATE;
 		break;
 		case MOTOR_OPEN_LOOP_STATE:
 			BLDC_runOpenLoop(motor, *M1_Desired_dc);
@@ -51,42 +51,31 @@ void motor_StateMachine(BLDCMotor_t* const motor)
 			switch (motor->regulation_loop_count) {
 				case 0: /* PWM FREQ / 25 - 1kHz */	
 				case 5: case 10: case 15: case 20:/* PWM FREQ / 5 - 5kHz */
-				calculate_motor_speed(motor);
-				BLDC_runSpeedCntl(motor, (float32_t)motor->motor_status.calc_rpm, (float32_t)motor->motor_setpoints.desired_speed);	
+					calculate_motor_speed(motor);
+					BLDC_runSpeedCntl(motor, (float32_t)motor->motor_status.calc_rpm, (float32_t)motor->motor_setpoints.desired_speed);	
 				default: /* PWM FREQ - 25kHz */
-				select_active_phase(motor);
-				BLDC_runCurrentCntl(motor,(float32_t)motor->Iphase_pu.Bus, (float32_t)motor->controllers.Pi_Idc.Ref_pu);
+					select_active_phase(motor);
+					BLDC_runCurrentCntl(motor,(float32_t)motor->Iphase_pu.Bus, (float32_t)motor->controllers.Pi_Idc.Ref_pu);
 				break;
 			} // end switch(regulation_loop_count)
 			if(motor->regulation_loop_count > 23) motor->regulation_loop_count = 0;
 			else motor->regulation_loop_count++;
 		break;
 		case MOTOR_PVI_CTRL_STATE:	
-			switch (Motor1.regulation_loop_count) {
+			switch (motor->regulation_loop_count) {
 				case 0: /* PWM FREQ / 25 - 1kHz */
-				Motor1.timerflags.motor_telemetry_flag = true; // Update telemetry flag
-				BLDC_runPosCntl(&Motor1, Motor1.motor_status.Num_Steps, Motor1.motor_setpoints.desired_position);
-				BLDC_runPosCntl(&Motor2, Motor1.motor_status.Num_Steps, Motor1.motor_setpoints.desired_position);
-				
+					BLDC_runPosCntl(motor, motor->motor_status.Num_Steps, motor->motor_setpoints.desired_position);	
 				case 5: case 10: case 15: case 20:/* PWM FREQ / 5 - 5kHz */
-
-				//calculate_motor_speed(motor);
-				//calculate_motor_speed();
-		
-				BLDC_runSpeedCntl(&Motor1, Motor1.motor_status.calc_rpm, Motor1.controllers.Pid_Speed.Ref_pu);
-				BLDC_runSpeedCntl(&Motor2, Motor1.motor_status.calc_rpm, Motor1.controllers.Pid_Speed.Ref_pu);
-	
+					calculate_motor_speed(motor);	
+					BLDC_runSpeedCntl(motor, (float32_t)motor->motor_status.calc_rpm, (float32_t)motor->controllers.Pid_Speed.Ref_pu);
 				default: /* PWM FREQ - 25kHz */
-				select_active_phase(motor);
-				//select_active_phase(&Motor2, Motor2.motor_status.currentHallPattern);
-		
-				BLDC_runCurrentCntl(&Motor1, Motor1.Iphase_pu.Bus, Motor1.controllers.Pi_Idc.Ref_pu);
-				BLDC_runCurrentCntl(&Motor2, Motor1.Iphase_pu.Bus, Motor1.controllers.Pi_Idc.Ref_pu);
-		
+					select_active_phase(motor);
+					//select_active_phase(&Motor2, Motor2.motor_status.currentHallPattern);
+					BLDC_runCurrentCntl(motor, motor->Iphase_pu.Bus, motor->controllers.Pi_Idc.Ref_pu);
 				break;
 			} // end switch(regulation_loop_count)
-			if(Motor1.regulation_loop_count > 23) Motor1.regulation_loop_count = 0;
-			else Motor1.regulation_loop_count++;
+			if(motor->regulation_loop_count > 23) motor->regulation_loop_count = 0;
+			else motor->regulation_loop_count++;
 		break;
 	} //end switch (motor->motor_state.currentstate)
 	
@@ -220,13 +209,13 @@ void exec_commutation(BLDCMotor_t* const motor)
 	volatile uint8_t currentHall = motor->readHall();
 	motor->motor_status.currentHallPattern = currentHall;
 		
-	if ((currentHall == INVALID_HALL_0)||(currentHall == INVALID_HALL_7))
-	{
-		hri_tcc_write_PATTBUF_reg(motor->motor_param->pwm_desc->device.hw,  DISABLE_PATTERN);
-		motor->motor_state.currentstate == MOTOR_FAULT;
-		motor->motor_state.fault == MOTOR_HALLSENSORINVALID;
-		return;
-	}
+	//if ((currentHall == INVALID_HALL_0)||(currentHall == INVALID_HALL_7))
+	//{
+		//hri_tcc_write_PATTBUF_reg(motor->motor_param->pwm_desc->device.hw,  DISABLE_PATTERN);
+		//motor->motor_state.currentstate == MOTOR_FAULT;
+		//motor->motor_state.fault == MOTOR_HALLSENSORINVALID;
+		//return;
+	//}
 																		   
 	// ----------------------------------------------------------------------
 	// Set Pattern Buffers
diff --git a/2_Motor_Master/Motor_Master/Motor_Master/bldc.h b/2_Motor_Master/Motor_Master/Motor_Master/bldc.h
index e5ae0dc..c07cdb6 100644
--- a/2_Motor_Master/Motor_Master/Motor_Master/bldc.h
+++ b/2_Motor_Master/Motor_Master/Motor_Master/bldc.h
@@ -17,7 +17,7 @@
 #include "statemachine.h"
 
 #define PWM_TOP					(1000)
-#define MAX_PWM					(400)
+#define MAX_PWM					(300)
 //#define MAX_VEL					3800
 
 #define CW						(0) //CBA
diff --git a/2_Motor_Master/Motor_Master/Motor_Master/main.c b/2_Motor_Master/Motor_Master/Motor_Master/main.c
index 5ce61d2..2460a15 100644
--- a/2_Motor_Master/Motor_Master/Motor_Master/main.c
+++ b/2_Motor_Master/Motor_Master/Motor_Master/main.c
@@ -181,17 +181,14 @@ int main(void)
 	
 	/* Replace with your application code */
 	while (1) {
-		//delay_ms(100);
-		//*M1_Motor__hallState = readM1Hall();
-		//*M2_Motor__hallState = readM2Hall();
-		//x += 1;
-		//comms_check();
-		//update_setpoints();
 		if (Motor1.timerflags.adc_readings_ready_tic) {process_currents();}
-		if (Motor1.timerflags.current_loop_tic) {APPLICATION_StateMachine();}
+		if (Motor1.timerflags.current_loop_tic) {
+			APPLICATION_StateMachine();
+			exec_commutation(&Motor1);
+			exec_commutation(&Motor2);
+		}
 		if (run_ECAT) {ECAT_STATE_MACHINE();}	
-		exec_commutation(&Motor1);
-		exec_commutation(&Motor2);
+		
 	}
 }
 
diff --git a/2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h b/2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h
index 668eaa3..e734f65 100644
--- a/2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h
+++ b/2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h
@@ -167,7 +167,7 @@ const static BLDCMotor_param_t FH_32mm24BXTR = {
 	.motor_Max_Spd_RPM		 = 3000,
 	.motor_MeasureRange_RPM	 = 3200,		//(1.2f * MOTOR_MAX_SPD_RPM)f   // give 20% headroom
 	.motor_Max_Spd_ELEC		 = 12000,		//(MOTOR_MAX_SPD_RPM/60)*MOTOR_POLEPAIRS
-	.motor_Max_Current_IDC_A = 1.2,
+	.motor_Max_Current_IDC_A = 1.0,
 };
 
 #endif /* MOTORPARAMETERS_H_ */
\ No newline at end of file
diff --git a/Twincat/MotorData/.vs/MotorData/v15/.suo b/Twincat/MotorData/.vs/MotorData/v15/.suo
index 02fe545..cdf1e0b 100644
Binary files a/Twincat/MotorData/.vs/MotorData/v15/.suo and b/Twincat/MotorData/.vs/MotorData/v15/.suo differ