diff --git a/main.c b/main.c
index b97d3cd..72b051c 100644
--- a/main.c
+++ b/main.c
@@ -41,7 +41,7 @@
  * 1: NFC test
  * 2: motioncontroller test
  */
-#define TEST 1
+#define TEST 0
 
 const uchar STEP_PINS = BIT4 | BIT5;
 const uchar DIRr_PIN = BIT3;
@@ -53,16 +53,21 @@ const ulong halfRound = 2800;
 
 void stap(uint n, ulong t){
   ulong d = t;
+  uint s = n-100;
   while(n != 0){
     n--;
     P2OUT |= STEP_PINS;
     P2OUT &= ~STEP_PINS;
-    d=t;
+    if(s < n || n < 100)
+        d = 100; // a crude way of a accaleration
+    else
+        d=t;
     while(d != 0){
         d--;
         __delay_cycles(160);
     }
   }
+  __delay_cycles(160000);
 }
 
 void dir(enum Direction d){
@@ -105,35 +110,35 @@ int main(void)
 
     for(ii=2; ii>0; ii--){
         dir(Forward);
-        stap(16000, v);
-        __delay_cycles(160000);
+        stap(10000, v);
         dir(RightTurn);
         stap(halfRound, v*2);
-        __delay_cycles(160000);
         dir(Forward);
-        stap(16000, v);
-        __delay_cycles(160000);
+        stap(10000, v);
         dir(LeftTurn);
         stap(halfRound, v*2);
-        __delay_cycles(160000);
     }
     for(ii=2; ii>0; ii--){
-        for(i=4; i>0; i--){
+        for(i=5; i>0; i--){
             dir(Forward);
             stap(1600, v);
-            __delay_cycles(160000);
             dir(RightTurn);
             stap(halfRound/2, v*2);
-            __delay_cycles(160000);
         }
-        for(i=4; i>0; i--){
+        dir(Forward);
+        stap(1600, v);
+        dir(RightTurn);
+        stap(halfRound, v*2);
+        for(i=5; i>0; i--){
             dir(Forward);
             stap(1600, v);
-            __delay_cycles(160000);
             dir(LeftTurn);
             stap(halfRound/2, v*2);
-            __delay_cycles(160000);
         }
+        dir(Forward);
+        stap(1600, v);
+        dir(LeftTurn);
+        stap(halfRound, v*2);
     }
 
 #endif