diff --git a/README.md b/README.md
index 7d0d02361745fcf1558b6a7824e9150ee0ee68a1..a6e52aa84686ae90d7a6ed55ad52a368f5cd005f 100644
--- a/README.md
+++ b/README.md
@@ -8,6 +8,14 @@ Does networked control of stepper motors w/ up to 2.8A current. Plans for closed
 
 See [circuit chatter](/circuit) and [programming chatter](/embedded).
 
+## Commands
+
+Position:
+key: 129, units: int32_t, steps
+
+Speed:
+key: 130, units: uint32_t, steps/s
+
 # IC Spec'ing
 
 ### Step Driver
diff --git a/circuit/mkstepper/eagle.epf b/circuit/mkstepper/eagle.epf
index 5984c9008ef22b223c9c5b90821511dba6670b2d..ec05ab8c33e0bf83cbb276348f9de14e9ee80c88 100644
--- a/circuit/mkstepper/eagle.epf
+++ b/circuit/mkstepper/eagle.epf
@@ -137,7 +137,7 @@ State=1
 Number=0
 
 [Desktop]
-Screen="3840 1080"
+Screen="6000 2160"
 Window="Win_1"
 Window="Win_2"
 Window="Win_3"
diff --git a/datasheet/AEAT-6600.pdf b/datasheet/AEAT-6600.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..af3f3189c6abf6599671c3326b068e481498f240
Binary files /dev/null and b/datasheet/AEAT-6600.pdf differ
diff --git a/embedded/mkstepper-v011/.vs/mkstepper-v011/v14/.atsuo b/embedded/mkstepper-v011/.vs/mkstepper-v011/v14/.atsuo
index 0ab6b1ad78864c3f23a5c648dcefc4fc12802044..bf5ec65953cbd5772f8fd9ee9aa64d80911873df 100644
Binary files a/embedded/mkstepper-v011/.vs/mkstepper-v011/v14/.atsuo and b/embedded/mkstepper-v011/.vs/mkstepper-v011/v14/.atsuo differ
diff --git a/embedded/mkstepper-v011/mkstepper-v011/main.c b/embedded/mkstepper-v011/mkstepper-v011/main.c
index 80565ea457dcacdb7c86249d43e65ad8df0ab961..7a3169dfb526bc3ba97a57f957da13fec3fb7ff0 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/main.c
+++ b/embedded/mkstepper-v011/mkstepper-v011/main.c
@@ -249,7 +249,7 @@ int main(void)
 	stepper = stepper_new(&step_pin, &dir_pin, 360.0, 64);
 	stepper_reset(&stepper);
 	
-	stepper_targetspeed_steps(&stepper, 500); // so slow
+	stepper_targetspeed_steps(&stepper, 2000); 
 	
 	uint8_t lpcnt = 0;
 	uint8_t stpcnt = 0;
diff --git a/embedded/mkstepper-v011/mkstepper-v011/tmc26.c b/embedded/mkstepper-v011/mkstepper-v011/tmc26.c
index 23fc47cfa184ecc894e8c099e6dce15237429c91..cd26b8ae1a619c8335da65dd6e6aa91ea4644279 100644
--- a/embedded/mkstepper-v011/mkstepper-v011/tmc26.c
+++ b/embedded/mkstepper-v011/mkstepper-v011/tmc26.c
@@ -33,15 +33,15 @@ void tmc26_init(tmc26_t *tmc){
 	tmc26_disable(tmc); // turnt off
 	
 	// address, slope control hi and lo to minimum, short to ground protection on, short to gnd timer 3.2us,
-	// enable step/dir, sense resistor full scale current voltage is 0.305mv, readback stallguard2 data, reserved
-	uint32_t drvconf = 0b11100000000000010000; 
+	// enable step/dir, sense resistor full scale current voltage is 0.16mv, readback stallguard2 data, reserved
+	uint32_t drvconf = 0b11100000000000110000; 
 	tmc26_write(tmc, drvconf);
 	
 	// address, sgfilt off, threshold value, current scaling (5-bit value appended)
 	uint32_t sgthresh_mask = 0b00000111111100000000;
 	int32_t sgthres_val = 60;
 	uint32_t cscale_mask = 0b00000000000000011111;
-	uint32_t cscale_val = 9;
+	uint32_t cscale_val = 20;
 	uint32_t sgcsconf = 0b11010000000000000000 | ((sgthres_val << 8) & sgthresh_mask) | (cscale_val & cscale_mask);
 	tmc26_write(tmc, sgcsconf);
 	
@@ -50,11 +50,17 @@ void tmc26_init(tmc26_t *tmc){
 	tmc26_write(tmc, smarten);
 	
 	// times, delays, cycle mode
-	uint32_t chopconf = 0b10010010100000010111;
+	uint32_t chopconf = 0b10011000001000010011;
 	tmc26_write(tmc, chopconf);
 	
 	// 9th bit is intpol, 8th is dedge, last 4 are microstepping
-	uint32_t drvctrl = 0b00000000000100000010;
+	// 0101 8
+	// 0100 16
+	// 0011 32
+	// 0010 64
+	// 0001 128
+	// 0000 256
+	uint32_t drvctrl = 0b00000000001100000100;
 	tmc26_write(tmc, drvctrl);
 }