diff --git a/lib/SyRen50/src/Syren50.cpp b/lib/SyRen50/src/Syren50.cpp
index c60abc0..d2cdd47 100644
--- a/lib/SyRen50/src/Syren50.cpp
+++ b/lib/SyRen50/src/Syren50.cpp
@@ -2,18 +2,22 @@
 #include <stdint.h>
 #include "Syren50.h"
 
+#define RXD2 16
+#define TXD2 17
+
 void Syren50::init() {
-    Serial1.begin(9600);
+    Serial2.begin(9600, SERIAL_8N1, RXD2, TXD2);
     delay(1000); // Give about 1 second to boot up, per datasheet
-    Serial.write(0b10101010);
+    Serial2.write(0b10101010);
 }
 
 void Syren50::command(uint8_t command, uint8_t data) {
-    Serial1.write(0x80); // Address
-    Serial1.write(command); // Command
-    Serial1.write(data);
-    Serial1.write((0x80 + command + data) & 0b01111111); // Checksum
-    Serial1.flush();
+    Serial2.write(0x80); // Address
+    Serial2.write(command); // Command
+    Serial2.write(data);
+    Serial2.write((0x80 + command + data) & 0b01111111); // Checksum
+    Serial2.flush();
+    delay(5);
 }
 
 void Syren50::forwards(uint8_t speed) {
diff --git a/platformio.ini b/platformio.ini
index c36403d..ba9487f 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -10,15 +10,10 @@
 
 
 [platformio]
-default_envs = esp12e
+default_envs = esp32dev
 name = WiFiTrainReceiver
 
-[env:esp12e]
-platform = espressif8266
+[env:esp32dev]
+platform = espressif32
 framework = arduino
-board = esp12e
-
-[env:nodemcuv2]
-platform = espressif8266
-framework = arduino
-board = nodemcuv2
+board = esp32dev
\ No newline at end of file
diff --git a/src/main.cpp b/src/main.cpp
index da4cc4b..02bcb81 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,39 +1,54 @@
 #include "Arduino.h"
-#include "wifi.h"
-#include <ESP8266WiFi.h>
+#include <WiFi.h>
 #include <string>
-#include "SyRen50.h"
+#include "Syren50.h"
 using namespace std;
 
 Syren50 motor;
 
 void setup() {
-    Serial.begin(9600);
+    Serial.begin(115200);
     // delay required for motor controller boot-up
     delay(1000);
     motor.init();
 }
 
 float throttle = 0.0f;
-uint8_t direction = 0;
+int8_t direction = 0;
 bool horn = false;
 bool bell = false;
 bool lights = false;
 
-uint8_t last_direction = 0;
+int8_t last_direction = 0;
 float last_throttle = 0.0f;
 
-void inertia(float throttle, uint8_t direction, float &inertial_throttle, uint8_t &inertial_direction) {
+void inertia(float throttle, int8_t direction, float &inertial_throttle, int8_t &inertial_direction) {
     inertial_throttle = throttle;
     inertial_direction = direction;
 }
 
 float motor_throttle;
-uint8_t motor_direction;
+int8_t motor_direction;
+
+void get_control_inputs(float &throttle, int8_t &direction) {
+    if (Serial.available() > 0) {
+        if (Serial.peek() == 'c') {
+            Serial.read();
+            Serial.println("Init motor");
+            motor.init();
+        } else {
+            int recvd = Serial.parseInt();
+            throttle = (float) recvd / 100.0;
+            Serial.println(throttle);
+            direction = 1;
+        }
+    }
+}
 
 void loop() {
-    //get_control_inputs(throttle, direction, horn, bell, lights);
+    get_control_inputs(throttle, direction);
     inertia(throttle, direction, motor_throttle, motor_direction);
-    motor.move(motor_direction, motor_throttle);
+    Serial.println(motor_throttle);
+    motor.move(motor_direction, (uint8_t) (motor_throttle * 127.0));
     delay(1);
 }
\ No newline at end of file