diff --git a/NodeMCU/OSCWifiBridge/OSCWifiBridge.ino b/NodeMCU/OSCWifiBridge/OSCWifiBridge.ino
index 2cf8a17..a114bc0 100644
--- a/NodeMCU/OSCWifiBridge/OSCWifiBridge.ino
+++ b/NodeMCU/OSCWifiBridge/OSCWifiBridge.ino
@@ -11,7 +11,7 @@
 char ssid[] = "ROBOT";
 char pass[] = "myrobotisawesome";
 
-const long sendInterval = 25; // in ms
+const long sendInterval = 30; // in ms
 
 WiFiUDP Udp;
 
@@ -72,7 +72,7 @@ void setup() {
   IPAddress apip = WiFi.softAPIP();
   pinMode(LED_BUILTIN, OUTPUT);
   //Serial.begin(115200);
-  Serial.begin(57600);
+  Serial.begin(250000);
   Serial.println();
   Serial.print("AP IP: ");
   Serial.println(apip);
@@ -82,17 +82,18 @@ void setup() {
   pPacket->MagicWordLow = 0x0DED;
   pPacket->MagicWordHigh = 0x0DEC;
 
-  pPacket->Throttle = 0;
-  pPacket->Steering = 0;
-  pPacket->Kp = 0;
-  pPacket->Ki = 0;
-  pPacket->Kd = 0;
+  pPacket->Throttle = 1;
+  pPacket->Steering = 2;
+  pPacket->Kp = 3;
+  pPacket->Ki = 4;
+  pPacket->Kd = 5;
   pPacket->Enabled = false;
   pPacket->checksum = 0;
 }
 
 void sendPacket()
 {
+  calcChecksum();
   Serial.write(buffer, bufferSize);
 }
 
@@ -108,7 +109,7 @@ void OSCMsgReceive()
     }
     if (!msgIN.hasError())
     {
-      msgIN.route("/Robot/Enable",toggleEnabled);
+      msgIN.route("/Robot/Enable",funcEnabled);
       msgIN.route("/Fader/Throttle",funcThrottle);
       msgIN.route("/Fader/Steering",funcSteering);
       msgIN.route("/Gain/Kp",funcKp);
@@ -121,7 +122,6 @@ void OSCMsgReceive()
 void sendUdp(OSCMessage* pMessage)
 {
   IPAddress remoteIp = Udp.remoteIP();
-  //outIp = Udp.remoteIP();
   if (remoteIp != outIp)
   {
     outIp = remoteIp;
@@ -136,11 +136,9 @@ void sendUdp(OSCMessage* pMessage)
   pMessage->send(Udp); // send the bytes
   Udp.endPacket(); // mark the end of the OSC Packet
   pMessage->empty(); // free space occupied by message
-
-  calcChecksum();
 }
 
-void toggleEnabled(OSCMessage &msg, int addrOffset){
+void funcEnabled(OSCMessage &msg, int addrOffset){
   ledState = !(boolean) msg.getFloat(0);
   OSCMessage msgOUT("/Robot/Enable");
 
@@ -148,7 +146,7 @@ void toggleEnabled(OSCMessage &msg, int addrOffset){
 
   msgOUT.add(!ledState);
   sendUdp(&msgOUT);
-  pPacket->Enabled = ledState;
+  pPacket->Enabled = !ledState;
 
   //Serial.println( ledState ? "Robot disabled" : "Robot enabled");
 }