diff --git a/servo-control.cpp b/servo-control.cpp
index c4a2545..738c719 100644
--- a/servo-control.cpp
+++ b/servo-control.cpp
@@ -13,10 +13,11 @@ int rpm_to_dxl_servo_speed(const int rpm);
 
 Mood mood;
 
-float matrix_weights[SERVO_COUNT][3]; //mapping outputs, sensors/moods
+float matrix_weights[SERVO_COUNT][4]; //mapping outputs, sensors/moods
 #define W_PITCH 0
 #define W_ROLL 1
 #define W_NOISE 2
+#define W_NOISESLOW 3
 
 
 void matrix_weights_update(){
@@ -31,18 +32,23 @@ void matrix_weights_update(){
 
   //testing on servo
   matrix_weights[0][W_NOISE]=90.0*map_mode;
+  matrix_weights[0][W_NOISESLOW]=90.0*map_mode;
   matrix_weights[0][W_ROLL]=1.0* (1-map_mode);
 
   matrix_weights[1][W_NOISE]=90.0*map_mode;
+  matrix_weights[1][W_NOISESLOW]=90.0*map_mode;
   matrix_weights[1][W_PITCH]=1.0* (1-map_mode);
 
   matrix_weights[2][W_NOISE]=90.0*map_mode;
+  matrix_weights[2][W_NOISESLOW]=90.0*map_mode;
   matrix_weights[2][W_ROLL]=1.0* (1-map_mode);
 
   matrix_weights[3][W_NOISE]=90.0*map_mode;
+  matrix_weights[3][W_NOISESLOW]=90.0*map_mode;
   matrix_weights[3][W_PITCH]=1.0* (1-map_mode);
 
   matrix_weights[4][W_NOISE]=90.0*map_mode;
+  matrix_weights[4][W_NOISESLOW]=90.0*map_mode;
   matrix_weights[4][W_ROLL]=1.0* (1-map_mode);
 
 
@@ -238,9 +244,10 @@ void map_servos_by_weights_with_initial_position_and_move(const int roll, const
 
 
   for (uint8_t i=0;i<=SERVO_COUNT;i++) {
-    float pnoise=PerlinNoise2((millis()+millis_add)/1000.0,i*10,0.25,3); //x,y,persistance,octaves
+    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
     int angle=0;
-    angle=pitch*matrix_weights[i][0]+roll*matrix_weights[i][1]+pnoise*matrix_weights[i][2];
+    angle=pitch*matrix_weights[i][W_PITCH]+roll*matrix_weights[i][W_ROLL]+pnoise*matrix_weights[i][W_NOISE]+pnoiseslow*matrix_weights[i][W_NOISESLOW];
     dxlSetGoalPosition(servos[i].id, servos[i].initial_position + (servos[i].joint_orientation * angle_to_dxl_servo_position(angle)));   
   }
   delay(1);