diff --git a/src/main.cpp b/src/main.cpp
index 6fef469..5c8c5e6 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -647,9 +647,11 @@ void setup() {
   // Sabertooth init
   Serial2.setTX(4);
   Serial2.setRX(5);
-  Serial2.begin(2400); // Sabertooths on modulus have been reprogrammed to 2400 baud!
+  Serial2.begin(2400); // Sabertooths on modulus have been reprogrammed to 2400 baud! ST1.setBaudrate(2400); from another pico
   Sabertooth::autobaud(Serial2);
-  //Sabertooth::autobaud();
+  swivel[0].setTimeout(100);
+  swivel[1].setTimeout(100);
+  actuators.setTimeout(100);
   
 
   // Talon SRX init