diff --git a/V5B/Reciver/Reciver.atsuo b/V5B/Reciver/Reciver.atsuo
index 5368cdc..93819c0 100644
Binary files a/V5B/Reciver/Reciver.atsuo and b/V5B/Reciver/Reciver.atsuo differ
diff --git a/V5B/Reciver/Reciver/Debug/Reciver.elf b/V5B/Reciver/Reciver/Debug/Reciver.elf
index 8730018..7bdcb23 100644
Binary files a/V5B/Reciver/Reciver/Debug/Reciver.elf and b/V5B/Reciver/Reciver/Debug/Reciver.elf differ
diff --git a/V5B/Reciver/Reciver/Debug/Reciver.hex b/V5B/Reciver/Reciver/Debug/Reciver.hex
index 8e0d565..1b19b2d 100644
--- a/V5B/Reciver/Reciver/Debug/Reciver.hex
+++ b/V5B/Reciver/Reciver/Debug/Reciver.hex
@@ -5,17 +5,17 @@
 :1000400020E0A4E6B0E001C01D92A636B207E1F7B9
 :1000500068D1B0C2D5CF80916200909163000697BD
 :1000600009F443C086E090E09093630080936200BF
-:1000700088E790E090936100809360002FEF86E71F
+:100070008AE590E090936100809360002FE788E329
 :1000800091E0215080409040E1F700C00000409195
-:1000900062005091630062E381E00ED22FEF86E1AF
-:1000A00091E1215080409040E1F700C000008CE3D6
-:1000B00090E090936100809360002FEF86E191E1E2
+:1000900062005091630068E281E00ED22FEF83ECA2
+:1000A00099E0215080409040E1F700C0000088E2D4
+:1000B00090E090936100809360002FEF82E597E0DD
 :1000C000215080409040E1F700C0000084EB90E0B8
 :1000D00090936100809360002FEF86E191E12150C1
 :1000E00080409040E1F700C000000895BA988091E8
 :1000F000620090916300039729F4B29B03C0D8D1AA
 :10010000AADFC3D18091620090916300029741F40D
-:10011000B29B06C0CDD148E062E381E0CDD1B5D13C
+:10011000B29B06C0CDD148E068E281E0CDD1B5D137
 :10012000CC992DC08091620090916300029739F5BF
 :1001300086E090E090936300809362002FEF81E16E
 :100140009AE7215080409040E1F700C000002FEF77
@@ -23,15 +23,15 @@
 :100160002FEF81E19AE7215080409040E1F700C0F5
 :10017000000083E090E09093630080936200089514
 :10018000CF9383D101C0B2DF8AD18111FCCF8CD152
-:10019000882339F0823329F0803F09F03FC001C045
+:10019000882339F0883229F0803F09F03FC001C040
 :1001A000A5DF7DD18111FCCF7FD1C82F01C09EDF9B
 :1001B00076D18111FCCFC13089F576D1843049F0F8
 :1001C00018F48130C1F419C0853051F0873099F4AA
 :1001D0000EC082E090E090936300809362000DC0B7
 :1001E00083E090E0909363008093620006C060D14A
-:1001F00032DF4BD113C05CD111C05AD12FEF86E74B
+:1001F00032DF4BD113C05CD111C05AD12FE788E355
 :1002000091E0215080409040E1F700C00000409113
-:1002100062005091630062E381E04ED1CF91089576
+:1002100062005091630068E281E04ED1CF91089571
 :1002200010BE85E083BF88E582BF81E089BF089565
 :100230001F920F920FB60F9211242F933F938F931B
 :100240009F9388E582BF809162009091630002973E
diff --git a/V5B/Reciver/Reciver/Debug/Reciver.lss b/V5B/Reciver/Reciver/Debug/Reciver.lss
index 0142d45..55bef54 100644
--- a/V5B/Reciver/Reciver/Debug/Reciver.lss
+++ b/V5B/Reciver/Reciver/Debug/Reciver.lss
@@ -109,8 +109,8 @@ void turn() {
   66:	90 e0       	ldi	r25, 0x00	; 0
   68:	90 93 63 00 	sts	0x0063, r25
   6c:	80 93 62 00 	sts	0x0062, r24
-	servopos = RIGHT-60;
-  70:	88 e7       	ldi	r24, 0x78	; 120
+	servopos = RIGHT-90;
+  70:	8a e5       	ldi	r24, 0x5A	; 90
   72:	90 e0       	ldi	r25, 0x00	; 0
   74:	90 93 61 00 	sts	0x0061, r25
   78:	80 93 60 00 	sts	0x0060, r24
@@ -120,8 +120,8 @@ void turn() {
 	#endif
 
 	__builtin_avr_delay_cycles(__ticks_dc);
-  7c:	2f ef       	ldi	r18, 0xFF	; 255
-  7e:	86 e7       	ldi	r24, 0x76	; 118
+  7c:	2f e7       	ldi	r18, 0x7F	; 127
+  7e:	88 e3       	ldi	r24, 0x38	; 56
   80:	91 e0       	ldi	r25, 0x01	; 1
   82:	21 50       	subi	r18, 0x01	; 1
   84:	80 40       	sbci	r24, 0x00	; 0
@@ -133,34 +133,34 @@ void turn() {
 	rf12_txpacket(MASTER, DEVICE, status);
   8e:	40 91 62 00 	lds	r20, 0x0062
   92:	50 91 63 00 	lds	r21, 0x0063
-  96:	62 e3       	ldi	r22, 0x32	; 50
+  96:	68 e2       	ldi	r22, 0x28	; 40
   98:	81 e0       	ldi	r24, 0x01	; 1
   9a:	0e d2       	rcall	.+1052   	; 0x4b8 <rf12_txpacket>
   9c:	2f ef       	ldi	r18, 0xFF	; 255
-  9e:	86 e1       	ldi	r24, 0x16	; 22
-  a0:	91 e1       	ldi	r25, 0x11	; 17
+  9e:	83 ec       	ldi	r24, 0xC3	; 195
+  a0:	99 e0       	ldi	r25, 0x09	; 9
   a2:	21 50       	subi	r18, 0x01	; 1
   a4:	80 40       	sbci	r24, 0x00	; 0
   a6:	90 40       	sbci	r25, 0x00	; 0
   a8:	e1 f7       	brne	.-8      	; 0xa2 <turn+0x4c>
   aa:	00 c0       	rjmp	.+0      	; 0xac <turn+0x56>
   ac:	00 00       	nop
-	_delay_ms(700);
-	servopos = RIGHT-120;
-  ae:	8c e3       	ldi	r24, 0x3C	; 60
+	_delay_ms(400);
+	servopos = RIGHT-140;
+  ae:	88 e2       	ldi	r24, 0x28	; 40
   b0:	90 e0       	ldi	r25, 0x00	; 0
   b2:	90 93 61 00 	sts	0x0061, r25
   b6:	80 93 60 00 	sts	0x0060, r24
   ba:	2f ef       	ldi	r18, 0xFF	; 255
-  bc:	86 e1       	ldi	r24, 0x16	; 22
-  be:	91 e1       	ldi	r25, 0x11	; 17
+  bc:	82 e5       	ldi	r24, 0x52	; 82
+  be:	97 e0       	ldi	r25, 0x07	; 7
   c0:	21 50       	subi	r18, 0x01	; 1
   c2:	80 40       	sbci	r24, 0x00	; 0
   c4:	90 40       	sbci	r25, 0x00	; 0
   c6:	e1 f7       	brne	.-8      	; 0xc0 <turn+0x6a>
   c8:	00 c0       	rjmp	.+0      	; 0xca <turn+0x74>
   ca:	00 00       	nop
-	_delay_ms(700);
+	_delay_ms(300);
 	servopos = RIGHT;
   cc:	84 eb       	ldi	r24, 0xB4	; 180
   ce:	90 e0       	ldi	r25, 0x00	; 0
@@ -212,7 +212,7 @@ void poll() {
  114:	cd d1       	rcall	.+922    	; 0x4b0 <rf12_endasyncrx>
 			rf12_txpacket(MASTER, DEVICE, DEDECT);
  116:	48 e0       	ldi	r20, 0x08	; 8
- 118:	62 e3       	ldi	r22, 0x32	; 50
+ 118:	68 e2       	ldi	r22, 0x28	; 40
  11a:	81 e0       	ldi	r24, 0x01	; 1
  11c:	cd d1       	rcall	.+922    	; 0x4b8 <rf12_txpacket>
 			rf12_beginasyncrx();
@@ -298,7 +298,7 @@ void recive() {
 	if(addr == ALL || addr == DEVICE || addr == GROUP) {
  190:	88 23       	and	r24, r24
  192:	39 f0       	breq	.+14     	; 0x1a2 <recive+0x22>
- 194:	82 33       	cpi	r24, 0x32	; 50
+ 194:	88 32       	cpi	r24, 0x28	; 40
  196:	29 f0       	breq	.+10     	; 0x1a2 <recive+0x22>
  198:	80 3f       	cpi	r24, 0xF0	; 240
  19a:	09 f0       	breq	.+2      	; 0x19e <recive+0x1e>
@@ -394,8 +394,8 @@ void recive() {
 			}
 			rf12_endasyncrx();
  1fa:	5a d1       	rcall	.+692    	; 0x4b0 <rf12_endasyncrx>
- 1fc:	2f ef       	ldi	r18, 0xFF	; 255
- 1fe:	86 e7       	ldi	r24, 0x76	; 118
+ 1fc:	2f e7       	ldi	r18, 0x7F	; 127
+ 1fe:	88 e3       	ldi	r24, 0x38	; 56
  200:	91 e0       	ldi	r25, 0x01	; 1
  202:	21 50       	subi	r18, 0x01	; 1
  204:	80 40       	sbci	r24, 0x00	; 0
@@ -407,7 +407,7 @@ void recive() {
 			rf12_txpacket(MASTER, DEVICE, status);
  20e:	40 91 62 00 	lds	r20, 0x0062
  212:	50 91 63 00 	lds	r21, 0x0063
- 216:	62 e3       	ldi	r22, 0x32	; 50
+ 216:	68 e2       	ldi	r22, 0x28	; 40
  218:	81 e0       	ldi	r24, 0x01	; 1
  21a:	4e d1       	rcall	.+668    	; 0x4b8 <rf12_txpacket>
 			return;
diff --git a/V5B/Reciver/Reciver/Debug/Reciver.srec b/V5B/Reciver/Reciver/Debug/Reciver.srec
index e9e4502..e6fe7d7 100644
--- a/V5B/Reciver/Reciver/Debug/Reciver.srec
+++ b/V5B/Reciver/Reciver/Debug/Reciver.srec
@@ -6,17 +6,17 @@ S1130030E8EBF5E002C005900D92A436B107D9F7BC
 S113004020E0A4E6B0E001C01D92A636B207E1F7B5
 S113005068D1B0C2D5CF80916200909163000697B9
 S113006009F443C086E090E09093630080936200BB
-S113007088E790E090936100809360002FEF86E71B
+S11300708AE590E090936100809360002FE788E325
 S113008091E0215080409040E1F700C00000409191
-S113009062005091630062E381E00ED22FEF86E1AB
-S11300A091E1215080409040E1F700C000008CE3D2
-S11300B090E090936100809360002FEF86E191E1DE
+S113009062005091630068E281E00ED22FEF83EC9E
+S11300A099E0215080409040E1F700C0000088E2D0
+S11300B090E090936100809360002FEF82E597E0D9
 S11300C0215080409040E1F700C0000084EB90E0B4
 S11300D090936100809360002FEF86E191E12150BD
 S11300E080409040E1F700C000000895BA988091E4
 S11300F0620090916300039729F4B29B03C0D8D1A6
 S1130100AADFC3D18091620090916300029741F409
-S1130110B29B06C0CDD148E062E381E0CDD1B5D138
+S1130110B29B06C0CDD148E068E281E0CDD1B5D133
 S1130120CC992DC08091620090916300029739F5BB
 S113013086E090E090936300809362002FEF81E16A
 S11301409AE7215080409040E1F700C000002FEF73
@@ -24,15 +24,15 @@ S113015081E19AE7215080409040E1F700C000001F
 S11301602FEF81E19AE7215080409040E1F700C0F1
 S1130170000083E090E09093630080936200089510
 S1130180CF9383D101C0B2DF8AD18111FCCF8CD14E
-S1130190882339F0823329F0803F09F03FC001C041
+S1130190882339F0883229F0803F09F03FC001C03C
 S11301A0A5DF7DD18111FCCF7FD1C82F01C09EDF97
 S11301B076D18111FCCFC13089F576D1843049F0F4
 S11301C018F48130C1F419C0853051F0873099F4A6
 S11301D00EC082E090E090936300809362000DC0B3
 S11301E083E090E0909363008093620006C060D146
-S11301F032DF4BD113C05CD111C05AD12FEF86E747
+S11301F032DF4BD113C05CD111C05AD12FE788E351
 S113020091E0215080409040E1F700C0000040910F
-S113021062005091630062E381E04ED1CF91089572
+S113021062005091630068E281E04ED1CF9108956D
 S113022010BE85E083BF88E582BF81E089BF089561
 S11302301F920F920FB60F9211242F933F938F9317
 S11302409F9388E582BF809162009091630002973A
diff --git a/V5B/Reciver/Reciver/Reciver.c b/V5B/Reciver/Reciver/Reciver.c
index 6bf80df..dd25550 100644
--- a/V5B/Reciver/Reciver/Reciver.c
+++ b/V5B/Reciver/Reciver/Reciver.c
@@ -23,12 +23,12 @@ void turn() {
 	if(status == RUN)
 		return;
 	status = RUN;
-	servopos = RIGHT-60;
+	servopos = RIGHT-90;
 	_delay_ms(10+DEVICE);
 	rf12_txpacket(MASTER, DEVICE, status);
-	_delay_ms(700);
-	servopos = RIGHT-120;
-	_delay_ms(700);
+	_delay_ms(400);
+	servopos = RIGHT-140;
+	_delay_ms(300);
 	servopos = RIGHT;
 	_delay_ms(700);
 }
diff --git a/V5B/Reciver/Reciver/Reciver.cproj b/V5B/Reciver/Reciver/Reciver.cproj
index dc5292e..43ec80c 100644
--- a/V5B/Reciver/Reciver/Reciver.cproj
+++ b/V5B/Reciver/Reciver/Reciver.cproj
@@ -60,14 +60,14 @@
     </com_atmel_avrdbg_tool_simulator>
     <AsfFrameworkConfig>
       <framework-data xmlns="">
-  <options />
-  <configurations />
-  <files />
-  <documentation help="" />
-  <dependencies>
-    <content-extension eid="atmel.asf" uuidref="Atmel.ASF" version="3.5.1" />
-  </dependencies>
-</framework-data>
+        <options />
+        <configurations />
+        <files />
+        <documentation help="" />
+        <dependencies>
+          <content-extension eid="atmel.asf" uuidref="Atmel.ASF" version="3.5.1" />
+        </dependencies>
+      </framework-data>
     </AsfFrameworkConfig>
     <CacheFlash>true</CacheFlash>
     <ProgFlashFromRam>true</ProgFlashFromRam>
@@ -76,46 +76,46 @@
   <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
     <ToolchainSettings>
       <AvrGcc xmlns="">
-  <avrgcc.common.outputfiles.hex>True</avrgcc.common.outputfiles.hex>
-  <avrgcc.common.outputfiles.lss>True</avrgcc.common.outputfiles.lss>
-  <avrgcc.common.outputfiles.eep>True</avrgcc.common.outputfiles.eep>
-  <avrgcc.common.outputfiles.srec>True</avrgcc.common.outputfiles.srec>
-  <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
-  <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
-  <avrgcc.compiler.optimization.level>Optimize for size (-Os)</avrgcc.compiler.optimization.level>
-  <avrgcc.compiler.optimization.OtherFlags>-fdata-sections</avrgcc.compiler.optimization.OtherFlags>
-  <avrgcc.compiler.optimization.PackStructureMembers>True</avrgcc.compiler.optimization.PackStructureMembers>
-  <avrgcc.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcc.compiler.optimization.AllocateBytesNeededForEnum>
-  <avrgcc.compiler.warnings.AllWarnings>True</avrgcc.compiler.warnings.AllWarnings>
-  <avrgcc.linker.libraries.Libraries>
-    <ListValues>
-      <Value>libm</Value>
-    </ListValues>
-  </avrgcc.linker.libraries.Libraries>
-</AvrGcc>
+        <avrgcc.common.outputfiles.hex>True</avrgcc.common.outputfiles.hex>
+        <avrgcc.common.outputfiles.lss>True</avrgcc.common.outputfiles.lss>
+        <avrgcc.common.outputfiles.eep>True</avrgcc.common.outputfiles.eep>
+        <avrgcc.common.outputfiles.srec>True</avrgcc.common.outputfiles.srec>
+        <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
+        <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
+        <avrgcc.compiler.optimization.level>Optimize for size (-Os)</avrgcc.compiler.optimization.level>
+        <avrgcc.compiler.optimization.OtherFlags>-fdata-sections</avrgcc.compiler.optimization.OtherFlags>
+        <avrgcc.compiler.optimization.PackStructureMembers>True</avrgcc.compiler.optimization.PackStructureMembers>
+        <avrgcc.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcc.compiler.optimization.AllocateBytesNeededForEnum>
+        <avrgcc.compiler.warnings.AllWarnings>True</avrgcc.compiler.warnings.AllWarnings>
+        <avrgcc.linker.libraries.Libraries>
+          <ListValues>
+            <Value>libm</Value>
+          </ListValues>
+        </avrgcc.linker.libraries.Libraries>
+      </AvrGcc>
     </ToolchainSettings>
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
     <ToolchainSettings>
       <AvrGcc xmlns="">
-  <avrgcc.common.outputfiles.hex>True</avrgcc.common.outputfiles.hex>
-  <avrgcc.common.outputfiles.lss>True</avrgcc.common.outputfiles.lss>
-  <avrgcc.common.outputfiles.eep>True</avrgcc.common.outputfiles.eep>
-  <avrgcc.common.outputfiles.srec>True</avrgcc.common.outputfiles.srec>
-  <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
-  <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
-  <avrgcc.compiler.optimization.level>Optimize (-O1)</avrgcc.compiler.optimization.level>
-  <avrgcc.compiler.optimization.PackStructureMembers>True</avrgcc.compiler.optimization.PackStructureMembers>
-  <avrgcc.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcc.compiler.optimization.AllocateBytesNeededForEnum>
-  <avrgcc.compiler.optimization.DebugLevel>Default (-g2)</avrgcc.compiler.optimization.DebugLevel>
-  <avrgcc.compiler.warnings.AllWarnings>True</avrgcc.compiler.warnings.AllWarnings>
-  <avrgcc.linker.libraries.Libraries>
-    <ListValues>
-      <Value>libm</Value>
-    </ListValues>
-  </avrgcc.linker.libraries.Libraries>
-  <avrgcc.assembler.debugging.DebugLevel>Default (-Wa,-g)</avrgcc.assembler.debugging.DebugLevel>
-</AvrGcc>
+        <avrgcc.common.outputfiles.hex>True</avrgcc.common.outputfiles.hex>
+        <avrgcc.common.outputfiles.lss>True</avrgcc.common.outputfiles.lss>
+        <avrgcc.common.outputfiles.eep>True</avrgcc.common.outputfiles.eep>
+        <avrgcc.common.outputfiles.srec>True</avrgcc.common.outputfiles.srec>
+        <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
+        <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
+        <avrgcc.compiler.optimization.level>Optimize (-O1)</avrgcc.compiler.optimization.level>
+        <avrgcc.compiler.optimization.PackStructureMembers>True</avrgcc.compiler.optimization.PackStructureMembers>
+        <avrgcc.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcc.compiler.optimization.AllocateBytesNeededForEnum>
+        <avrgcc.compiler.optimization.DebugLevel>Default (-g2)</avrgcc.compiler.optimization.DebugLevel>
+        <avrgcc.compiler.warnings.AllWarnings>True</avrgcc.compiler.warnings.AllWarnings>
+        <avrgcc.linker.libraries.Libraries>
+          <ListValues>
+            <Value>libm</Value>
+          </ListValues>
+        </avrgcc.linker.libraries.Libraries>
+        <avrgcc.assembler.debugging.DebugLevel>Default (-Wa,-g)</avrgcc.assembler.debugging.DebugLevel>
+      </AvrGcc>
     </ToolchainSettings>
   </PropertyGroup>
   <ItemGroup>
diff --git a/V5B/Reciver/Reciver/codes.h b/V5B/Reciver/Reciver/codes.h
index a37242e..112ae8f 100644
--- a/V5B/Reciver/Reciver/codes.h
+++ b/V5B/Reciver/Reciver/codes.h
@@ -12,7 +12,7 @@
 #ifndef ALL
 #define ALL 0
 #define GROUP 240
-#define DEVICE 50
+#define DEVICE 40
 #define MASTER 1
 #endif