diff --git a/micropython_firmware/boot.py b/micropython_firmware/boot.py
index d82351c..bc7d762 100644
--- a/micropython_firmware/boot.py
+++ b/micropython_firmware/boot.py
@@ -10,14 +10,13 @@ print("networks found: {}".format(networks))
 ap_found = False
 
 # TODO: edit these lines
-network_name = 'M5Wifi'
-password = '<PW>'
-#desired_ip = '192.168.1.101'
-#desired_ip = '192.168.1.102'
-desired_ip = '192.168.1.103'
+network_name = '<SSID>'	# existing wifi network to connect to (leave empty if unused)
+password = '<PW>'	# password for the network
+desired_ip = '192.168.1.101'	# the robot will be reachable by this IP in the network
 subnet = '255.255.255.0'
 gateway = '192.168.1.1'
 dns = '192.168.1.1'
+# TODO end edit
 
 for n in networks:
     if network_name == n[0].decode():
@@ -32,10 +31,23 @@ for n in networks:
             ap_found = True
             ap_if.active(False)
             print("disabling access point interface")
+    elif 'MicroPython' in n[0].decode(): # alternatively, connect to MicroPython network
+	print("existing network found: {}".format(n[0]))
+        print("connecting to the network ...")
+        # set static ip
+        sta_if.ifconfig((desired_ip, subnet, gateway, dns))
+        sta_if.connect(n[0].decode(), 'micropythoN')
+        my_ip = sta_if.ifconfig()
+        print("my_ip[0] = {}".format(my_ip[0]))
+        if my_ip[0] == desired_ip:
+            ap_found = True
+            ap_if.active(False)
+            print("disabling access point interface")
 if not ap_found:
     print("could not connect to network, becoming an access point instead")
     sta_if.active(False)
     ap_if.active(True)
+    ap_if.ifconfig((desired_ip, subnet, gateway, dns))
     my_ip = ap_if.ifconfig()
     print("disabling station interface")
 print("my_ip = {}".format(my_ip))