diff --git a/micropython_firmware/main.py b/micropython_firmware/main.py
index b37e6fd..4b7787f 100644
--- a/micropython_firmware/main.py
+++ b/micropython_firmware/main.py
@@ -9,35 +9,39 @@ import esp
 
 class Robot:
     def __init__(self):
-        print("setting up I2C")
+        print("setting up I2C ...")
         d1 = Pin(5)
         d2 = Pin(4)
         i2c = I2C(scl=d1, sda=d2)
-        addr = i2c.scan()[0]
-        print("i2c scan = {}".format(addr))
-        print("setting up motors")
-        self.m1 = d1motor.Motor(0, i2c, address=addr)
-        self.m2 = d1motor.Motor(1, i2c, address=addr)
-        print("motor setup complete")
-        
+        i2c_addr = i2c.scan()[0]
+        print("i2c scan = {}".format(i2c_addr))
+        print("setting up motors ...")
+        self.m1 = d1motor.Motor(0, i2c, address=i2c_addr)
+        self.m2 = d1motor.Motor(1, i2c, address=i2c_addr)
+        self.m1.speed(0)
+        self.m2.speed(0)
+        print("motor setup complete!")
+
+        ip = my_ip[0]
         # setup socket for remote control 
-        self.addr = usocket.getaddrinfo('192.168.4.1', 1234)[0][-1]
+        self.addr = usocket.getaddrinfo(ip, 1234)[0][-1]
 
     def remote_control(self):
         while True:
-            # dirty hack: free memory such that reuse of socket is possible
-            print(esp.freemem())
-            if esp.freemem() < 9 * 1024:
-                s = time.ticks_ms()
-                while esp.freemem() < 9 * 1024:
-                    pass
-                print("waited {} ms".format((time.ticks_ms() - s)))
-            print("setting up socket communication")
-            socket = usocket.socket()
-            socket.bind(self.addr)
-            print("socket setup complete")
+            print("setting up socket communication ...")
+            socket_setup_complete = False
+            while not socket_setup_complete:
+                try:
+                    print("trying to create socket on address {}".format(self.addr))
+                    socket = usocket.socket()
+                    socket.bind(self.addr)
+                    print("socket setup complete!")
+                    socket_setup_complete = True
+                except Exception as e:
+                    print("could not create socket. error msg: {}\nwaiting 1 sec and retrying...".format(e))
+                    time.sleep(1.0)
 
-            print("waiting for connections on {}".format(self.addr))
+            print("waiting for connections on {} ...".format(self.addr))
             socket.listen(1)
             res = socket.accept() # this blocks until someone connects to the socket
             comm_socket = res[0]
@@ -49,25 +53,25 @@ class Robot:
                  # ui \in [-1.0, 1.0]
                  data = comm_socket.readline()
                  data_str = data.decode()
-                 print("Data received: {}".format(data_str))
+                 #print("Data received: {}".format(data_str))
                  try:
-                     print("processing data = {}".format(data_str))
+                     #print("processing data = {}".format(data_str))
                      l = data_str.strip('()\n').split(',')
-                     print("l = {}".format(l))
-                     u1 = int(float(l[0])*10000)
-                     print("u1 = {}".format(u1))
-                     u2 = int(float(l[1])*10000)
-                     print("u2 = {}".format(u2))
+                     #print("l = {}".format(l))
+                     u1 = int(float(l[0])*100)
+                     #print("u1 = {}".format(u1))
+                     u2 = int(float(l[1])*100)
+                     #print("u2 = {}".format(u2))
                  except ValueError:
                      print("ValueError: Data has wrong format.")
                      print("Data received: {}".format(data_str))
-                     print("Shutting down")
+                     print("Shutting down ...")
                      u1 = u2 = 0
                      listening = False
                  except IndexError:
                      print("IndexError: Data has wrong format.")
                      print("Data received: {}".format(data_str))
-                     print("Shutting down")
+                     print("Shutting down ...")
                      u1 = u2 = 0
                      listening = False
                  finally:    
@@ -77,7 +81,7 @@ class Robot:
             socket.close()
             del comm_socket
             del socket
-            print("disconnected")
+            print("disconnected!")
 
 wall_e = Robot()
 wall_e.remote_control()