diff --git a/protesis_03_dxl.ino b/protesis_03_dxl.ino
index cadd539..9db2081 100644
--- a/protesis_03_dxl.ino
+++ b/protesis_03_dxl.ino
@@ -84,13 +84,13 @@ void loop() {
     slither();
 	} else {
     //move_protesis_with_sensor_data();
-    update_mood();
+    //update_mood();
     move_protesis_organic();
    
 	}
 
 	while (micros() - current_timestamp_us < 4000); //Wait until the loop_timer reaches 4000us (250Hz) before starting the next loop
-	//print_loop_time_micros();
+	print_loop_time_micros();
 	current_timestamp_us = micros();                      //Reset the loop timer
 
 }
diff --git a/servo-control.cpp b/servo-control.cpp
index f686625..6e30c4e 100644
--- a/servo-control.cpp
+++ b/servo-control.cpp
@@ -33,9 +33,11 @@ void matrix_weights_update(){
 
   
   
+  matrix_weights[0][W_COS]=40.0;
   
 
   //testing on servo
+  /*
   matrix_weights[0][W_COS]=30 *map_mode;
   matrix_weights[0][W_NOISE]=90.0 *map_mode;
   matrix_weights[1][W_SIN]=30 *map_mode;
@@ -53,6 +55,7 @@ void matrix_weights_update(){
   matrix_weights[2][W_ROLL]=1.0* (1-map_mode);  
   matrix_weights[3][W_PITCH]=1.0* (1-map_mode);  
   matrix_weights[4][W_ROLL]=1.0* (1-map_mode);
+  */
 
   /*
   matrix_weights[0][W_NOISE]=90.0*map_mode;
@@ -260,10 +263,12 @@ void map_servos_by_weights_with_initial_position_and_move(const int roll, const
   //Serial.println(millis_add);
   float vsin=sin((millis()+millis_add)/1000.0);
   float vcos=cos((millis()+millis_add)/1000.0);
-
+  
   for (uint8_t i=0;i<=SERVO_COUNT;i++) {
-    float pnoise=PerlinNoise2((millis()+millis_add)/500.0,i*10,0.25,3); //x,y,persistance,octaves
-    float pnoiseslow=PerlinNoise2((millis()+millis_add)/10000.0,i*10,0.20,3); //x,y,persistance,octaves
+    //unsigned long blastart=micros();
+    float pnoise=0;//PerlinNoise2((millis()+millis_add)/500.0,i*10,0.25,3); //x,y,persistance,octaves
+    float pnoiseslow=0;//PerlinNoise2((millis()+millis_add)/10000.0,i*10,0.20,3); //x,y,persistance,octaves
+    //Serial.print("perlin micros="); Serial.println(micros()-blastart);
 
     int angle=0;
     angle=
@@ -273,9 +278,14 @@ void map_servos_by_weights_with_initial_position_and_move(const int roll, const
       +pnoiseslow*matrix_weights[i][W_NOISESLOW]
       +vsin*matrix_weights[i][W_SIN]
       +vcos*matrix_weights[i][W_COS];
+    
+    
     dxlSetGoalPosition(servos[i].id, servos[i].initial_position + (servos[i].joint_orientation * angle_to_dxl_servo_position(angle)));   
+    
+    
   }
-  delay(1);
+  //delay(1);
+  
 }