diff --git a/src/globals.h b/src/globals.h
index dfb3052..bdfeb55 100644
--- a/src/globals.h
+++ b/src/globals.h
@@ -15,9 +15,12 @@ extern long last_p;
 */
 
 // Loop timing
-#define LOOP_DELAY_MS_CORE_0 50 // Minimum milliseconds between the start of each loop, accounting for processing time during each loop
+// 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_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
-#define LOOP_DELAY_SECONDS ((float)LOOP_DELAY_MS_CORE_0 / 1000.0f) // Previous number expressed in seconds
+#define LOOP_DELAY_SECONDS_CORE_1 ((float)LOOP_DELAY_MS_CORE_1 / 1000.0f) // Previous number expressed in seconds
 
 // Math things
 #define DEGREES_PER_RADIAN (180.0 / M_PI)
@@ -86,7 +89,7 @@ extern long last_p;
 
 // Tilt servo control parameters
 #define TILT_ANGLE_MIN_UPDATE_INTERVAL 0.2f // Update the tilt servo's target angle only after this many seconds have elapsed since the previous angle update
-#define TILT_ANGLE_MIN_UPDATE_LOOPS (TILT_ANGLE_MIN_UPDATE_INTERVAL / LOOP_DELAY_SECONDS) // Previous value expressed as a number of control loops to wait between updates
+#define TILT_ANGLE_MIN_UPDATE_LOOPS (TILT_ANGLE_MIN_UPDATE_INTERVAL / LOOP_DELAY_SECONDS_CORE_0) // Previous value expressed as a number of control loops to wait between updates
 #define TILT_ANGLE_UPDATE_DISTANCE 10.0f // Distance in degrees to shift the servo angle by each update
 #define TILT_MAX_ANGLE 90.0f // Maximum angle allowed for the tilt servo
 #define TILT_MIN_ANGLE -90.0f // Minimum angle allowed for the tilt servo
diff --git a/src/main.cpp b/src/main.cpp
index dd5dd2e..2c16ed0 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -973,6 +973,7 @@ void loop() {
   telemetry(zeroed_lx_float, zeroed_ly_float, zeroed_rx_float, zeroed_ry_float, loop_drive_mode, left_joystick_angle, left_joystick_magnitude, right_joystick_angle, right_joystick_magnitude); // DEBUG ONLY, print steering motor encoder positions
 
   // update motors after calculation
+  /*
   set_motor(FLSTEER, swrv.front_left_spin_power);
   set_motor(BRSTEER, swrv.back_right_spin_power);
   set_motor(FRSTEER, swrv.front_right_spin_power);
@@ -981,6 +982,16 @@ void loop() {
   set_motor(BRDRIVE, swrv.back_right_power);
   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);
+    }
+  }
 
   // update stepper motors
   set_motor(LIFTALL, clawarm.arm_set_motor_int);
@@ -1145,7 +1156,7 @@ void loop() {
 
   previous_loop_processing_duration_core_0 = millis() - previous_loop_start_time_core_0;
   int64_t delay_time_ms = LOOP_DELAY_MS_CORE_0 - (int64_t) previous_loop_processing_duration_core_0; // Dynamically calculate delay time
-  if(delay_time_ms > 0 && delay_time_ms < 100) { // Only delay if the processing time has not exceeded LOOP_DELAY_MS_CORE_0
+  if(delay_time_ms > 0/* && delay_time_ms < 100*/) { // Only delay if the processing time has not exceeded LOOP_DELAY_MS_CORE_0
     delay(delay_time_ms);
   }
   loop_counter_core_0++;