diff --git a/micropython_firmware/main.py b/micropython_firmware/main.py
index b949b4a..c66a392 100644
--- a/micropython_firmware/main.py
+++ b/micropython_firmware/main.py
@@ -12,7 +12,7 @@ class Motor:
     def __init__(self, enable, dir1, dir2):
         self.enable_pin = machine.Pin(enable, machine.Pin.OUT)
         self.enable_pwm = machine.PWM(self.enable_pin)
-        self.enable_pwm.freq(500)
+        self.enable_pwm.freq(250)
 
         self.dir1_pin = machine.Pin(dir1, machine.Pin.OUT)
         self.dir2_pin = machine.Pin(dir2, machine.Pin.OUT)
@@ -33,7 +33,7 @@ class Motor:
             if self.direction: # switch direction if necessary
                 self.reverse()
         # apply value as pwm signal
-        self.enable_pwm.duty(abs(value)*10)
+        self.enable_pwm.duty(int(abs(value)*10.23))
 
 
 class Robot:
diff --git a/remote_control/casadi_opt.py b/remote_control/casadi_opt.py
index 4ff5abf..dccbb30 100644
--- a/remote_control/casadi_opt.py
+++ b/remote_control/casadi_opt.py
@@ -210,7 +210,7 @@ class OpenLoopSolver:
         # ---- path constraints -----------
         # limit = lambda pos: 1-sin(2*pi*pos)/2
         # self.opti.subject_to(speed<=limit(pos))   # track speed limit
-        maxcontrol = 0.5
+        maxcontrol = 0.950
         self.opti.subject_to(self.opti.bounded(-maxcontrol, self.U, maxcontrol))  # control is limited
 
         # ---- boundary conditions --------