diff --git a/remote_control/position_controller.py b/remote_control/position_controller.py
index 6ca867a..b19397d 100644
--- a/remote_control/position_controller.py
+++ b/remote_control/position_controller.py
@@ -353,7 +353,7 @@ class RemoteController:
                             self.controlling = True
                         elif event.key == pygame.K_DOWN:
                             self.controlling = False
-                            self.rc_socket.send('(0.0,0.0)\n')
+                            self.rc_socket.send('(0.1, 0.0,0.0)\n')
                         elif event.key == pygame.K_0:
                             self.target = (0.0, 0.0)
                         elif event.key == pygame.K_1:
@@ -397,7 +397,7 @@ class RemoteController:
                 #    if tgrid is not None:
                     tmpc_end = time.time()
                     print("---------------- mpc solution took {} seconds".format(tmpc_end-tmpc_start))
-                    for i in range(0, 1):
+                    for i in range(0, 5):
                         u1 = us1[i]
                         u2 = us2[i]
                         dt_mpc = time.time() - self.t
@@ -405,7 +405,7 @@ class RemoteController:
                         #    time.sleep(0.1 - dt_mpc)
                         self.rc_socket.send('({},{},{})\n'.format(0.1,u1, u2))
                         self.t = time.time()
-                        time.sleep(0.01)
+                        time.sleep(0.1)
                     #