diff --git a/src/globals.h b/src/globals.h
index bdfeb55..f321209 100644
--- a/src/globals.h
+++ b/src/globals.h
@@ -16,7 +16,7 @@ extern long last_p;
 
 // Loop timing
 // TODO TEMPORARY CHANGED TO 1000, NORMAL 50
-#define LOOP_DELAY_MS_CORE_0 5000 // Minimum milliseconds between the start of each loop, accounting for processing time during each loop
+#define LOOP_DELAY_MS_CORE_0  500 // Minimum milliseconds between the start of each loop, accounting for processing time during each loop
 #define LOOP_DELAY_SECONDS_CORE_0 ((float)LOOP_DELAY_MS_CORE_0 / 1000.0f) // Previous number expressed in seconds
 
 #define LOOP_DELAY_MS_CORE_1 50 // Minimum milliseconds between the start of each loop, accounting for processing time during each loop
diff --git a/src/main.cpp b/src/main.cpp
index 2c16ed0..bf02f63 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -983,18 +983,22 @@ void loop() {
   set_motor(FRDRIVE, swrv.front_right_power);
   set_motor(BLDRIVE, swrv.back_left_power);
   */
-  for(int i = 0; i < 8; i++) {
-    if(i == loop_counter_core_0 % 8) {
-      set_motor(i + 1, 127);
-      Serial.print("Powering motor");
-      Serial.println(i + 1);
-    } else {
-      set_motor(i + 1, 0);
+  int loop_motor_change_interval = 8;
+  if(loop_counter_core_0 % loop_motor_change_interval == 0) { // Only change motors every 20 loops, or 2 seconds
+    int target_active_motor = ((loop_counter_core_0 / loop_motor_change_interval) % 4) + 5;
+
+    for(int i = 5; i <= 8; i++) {
+      // 20 for drive motors, 120 for steering motors
+      set_motor(i, (20 + (100 * (i < 4))) * (i == target_active_motor));
     }
+
+    Serial.print("Powering motor");
+    Serial.println(target_active_motor);
   }
 
   // update stepper motors
-  set_motor(LIFTALL, clawarm.arm_set_motor_int);
+  // TESTING temporarily disabled for motor testing above on 20230929
+  //set_motor(LIFTALL, clawarm.arm_set_motor_int);
 
   // update servos
   /*
diff --git a/src/zserio.cpp b/src/zserio.cpp
index 66769d7..8315073 100644
--- a/src/zserio.cpp
+++ b/src/zserio.cpp
@@ -81,7 +81,8 @@ void comm_parse() {
       }
     }
   }
-  
+  // TESTING: temporarily disabled for motor testing on 20230929
+  /*
   if(millis()-ptime > FAILTIME){
     //digitalWrite(13,LOW);
     SerCommDbg.println("No input recieved, sending safe inputs");
@@ -89,4 +90,5 @@ void comm_parse() {
     memcpy(astate,&safe,sizeof(packet_t));
     comm_ok=0;
   }
+  */
 }