diff --git a/src/main.cpp b/src/main.cpp
index 5654bb1..16e8e23 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -115,10 +115,7 @@ void setup() {
 
 void loop() {
 
-  if (DMXSerial.noDataSince() < 5000) {
-    targetPosition = (float)(DMXSerial.read(DMX_CHANNEL) - 101) / 100.0f; // 0 is disabled. position values are 1-201, 101 is center, <101 is CW, >101 is CCW. 1 & 201 are 360 degrees
-    digitalWrite(R_EN_PIN, HIGH);
-    digitalWrite(L_EN_PIN, HIGH);
+  
 
     if (micros() < prevSample) {
       // micros timer rolled over, so reset sample timer:
@@ -126,92 +123,107 @@ void loop() {
       prevSample = micros();
       currentPosition = encoderToPosition(encoderPosition);
     } else if (micros() - prevSample >= SAMPLE_RATE) {
-      // this can happen faster than control loop so that (TBD) smoothing function can be added
-      prevPosition = currentPosition;
-      double dt = (float (micros() - prevSample)) / (1.0e6f);           // time since last sample (s)
-      currentPosition = encoderToPosition(encoderPosition);             // get wall position (rev) from encoder reading
-      currentVelocity = 60.0f * (currentPosition - prevPosition) / dt;  // wall speed (rpm)    
-      currentMotorVelocity = currentVelocity * MOTOR_RATIO;             // motor speed (rpm), assuming no slipping
-      remainingDistance = targetPosition - currentPosition;             // position error (rev)
-      if (currentVelocity == 0) {
-        remainingTime = 1e6;
-      } else {
-        remainingTime = remainingDistance/currentVelocity;
-      }
+      if (DMXSerial.noDataSince() < 5000) {
+        int dmxVal = DMXSerial.read(DMX_CHANNEL);
+        if (dmxVal != 0) {
+          targetPosition = (float)(dmxVal - 101) / 100.0f; // 0 is disabled. position values are 1-201, 101 is center, <101 is CW, >101 is CCW. 1 & 201 are 360 degrees
+          digitalWrite(R_EN_PIN, HIGH);
+          digitalWrite(L_EN_PIN, HIGH);
+          // this can happen faster than control loop so that (TBD) smoothing function can be added
+          prevPosition = currentPosition;
+          double dt = (float (micros() - prevSample)) / (1.0e6f);           // time since last sample (s)
+          currentPosition = encoderToPosition(encoderPosition);             // get wall position (rev) from encoder reading
+          currentVelocity = 60.0f * (currentPosition - prevPosition) / dt;  // wall speed (rpm)    
+          currentMotorVelocity = currentVelocity * MOTOR_RATIO;             // motor speed (rpm), assuming no slipping
+          remainingDistance = targetPosition - currentPosition;             // position error (rev)
+          if (currentVelocity == 0) {
+            remainingTime = 1e6;
+          } else {
+            remainingTime = remainingDistance/currentVelocity;
+          }
 
-      if (abs(remainingDistance) < WALL_POSITION_TOLERANCE) {
-        // we are close enough, stop moving:
-        targetMotorVelocity = 0.0f;
-        remainingTime = 0.0f;
-      } else {
-        targetMotorVelocity =  sign(remainingDistance) * min(abs(remainingDistance) / SPEEDRAMP_DISTANCE * MOTOR_MAX_RPM, MOTOR_MAX_RPM);
-      }
+          if (abs(remainingDistance) < WALL_POSITION_TOLERANCE) {
+            // we are close enough, stop moving:
+            targetMotorVelocity = 0.0f;
+            remainingTime = 0.0f;
+          } else {
+            targetMotorVelocity =  sign(remainingDistance) * min(abs(remainingDistance) / SPEEDRAMP_DISTANCE * MOTOR_MAX_RPM, MOTOR_MAX_RPM);
+          }
 
-      // prevPWM = motorPWM;
-      prevSample = micros();
+          // prevPWM = motorPWM;
+          prevSample = micros();
 
-      /*
-      Serial.print("sample updated:");
-      Serial.print(" pos: ");Serial.print(currentPosition);
-      Serial.print(" vel: ");Serial.print(currentVelocity);
-      Serial.print(" error: ");Serial.print(remainingDistance);
-      Serial.println();
-      */
-    }
+          /*
+          Serial.print("sample updated:");
+          Serial.print(" pos: ");Serial.print(currentPosition);
+          Serial.print(" vel: ");Serial.print(currentVelocity);
+          Serial.print(" error: ");Serial.print(remainingDistance);
+          Serial.println();
+          */
 
-      if (pid.Compute()) {
-        // newPWM = motorPWM;
+          if (pid.Compute()) {
+            // newPWM = motorPWM;
 
-        motorPWM = Velocity_to_PWM(commandVelocity);
+            motorPWM = Velocity_to_PWM(commandVelocity);
 
-        // update motor controller command:
-        if (abs(motorPWM) < MOTOR_MIN_PWM) {
-          // Serial.println("PWM < MIN");
-          digitalWrite(RPWM_PIN, LOW);
-          digitalWrite(RLED_PIN, LOW);
+            // update motor controller command:
+            if (abs(motorPWM) < MOTOR_MIN_PWM) {
+              // Serial.println("PWM < MIN");
+              digitalWrite(RPWM_PIN, LOW);
+              digitalWrite(RLED_PIN, LOW);
+              digitalWrite(LPWM_PIN, LOW);
+              digitalWrite(LLED_PIN, LOW);
+            } else if (motorPWM > 0) {
+              // Serial.println("PWM > 0");
+              digitalWrite(RPWM_PIN, LOW);
+              digitalWrite(RLED_PIN, LOW);
+              pwmWrite(LPWM_PIN, motorPWM);
+              pwmWrite(LLED_PIN, motorPWM);
+            } else {     
+              // Serial.println("Else");
+              digitalWrite(LPWM_PIN, LOW);
+              digitalWrite(LLED_PIN, LOW);
+              pwmWrite(RPWM_PIN, -motorPWM);
+              pwmWrite(RLED_PIN, -motorPWM);
+            }
+
+            // generate some debug output:
+            // Serial.print(">time: ");
+            // Serial.print(millis());
+            // Serial.print(", ePos: ");
+            // Serial.print(encoderPosition);
+            // Serial.print(", wPos: ");
+            // Serial.print(currentPosition);
+            // Serial.print(", tPos: ");
+            // Serial.print(targetPosition);
+            // Serial.print(", wVel: ");
+            // Serial.print(currentVelocity);
+            // Serial.print(", rDist: ");
+            // Serial.print(remainingDistance);
+            // //Serial.print(", rTime: ");
+            // //Serial.print(remainingTime);
+            // Serial.print(", sTime:");
+            // Serial.print(stopTime);
+            // Serial.print(", tVel: ");
+            // Serial.print(targetMotorVelocity);
+            // Serial.print(", mPWM: ");
+            // Serial.println(motorPWM);
+          } 
+        } else {
+          digitalWrite(R_EN_PIN, LOW);
+          digitalWrite(L_EN_PIN, LOW);
           digitalWrite(LPWM_PIN, LOW);
-          digitalWrite(LLED_PIN, LOW);
-        } else if (motorPWM > 0) {
-          // Serial.println("PWM > 0");
           digitalWrite(RPWM_PIN, LOW);
-          digitalWrite(RLED_PIN, LOW);
-          pwmWrite(LPWM_PIN, motorPWM);
-          pwmWrite(LLED_PIN, motorPWM);
-        } else {     
-          // Serial.println("Else");
-          digitalWrite(LPWM_PIN, LOW);
-          digitalWrite(LLED_PIN, LOW);
-          pwmWrite(RPWM_PIN, -motorPWM);
-          pwmWrite(RLED_PIN, -motorPWM);
         }
-
-        // generate some debug output:
-        // Serial.print(">time: ");
-        // Serial.print(millis());
-        // Serial.print(", ePos: ");
-        // Serial.print(encoderPosition);
-        // Serial.print(", wPos: ");
-        // Serial.print(currentPosition);
-        // Serial.print(", tPos: ");
-        // Serial.print(targetPosition);
-        // Serial.print(", wVel: ");
-        // Serial.print(currentVelocity);
-        // Serial.print(", rDist: ");
-        // Serial.print(remainingDistance);
-        // //Serial.print(", rTime: ");
-        // //Serial.print(remainingTime);
-        // Serial.print(", sTime:");
-        // Serial.print(stopTime);
-        // Serial.print(", tVel: ");
-        // Serial.print(targetMotorVelocity);
-        // Serial.print(", mPWM: ");
-        // Serial.println(motorPWM);
+      } else {
+        digitalWrite(R_EN_PIN, LOW);
+        digitalWrite(L_EN_PIN, LOW);
+        digitalWrite(LPWM_PIN, LOW);
+        digitalWrite(RPWM_PIN, LOW);
+      }
     }
-    // make sure DMX is still alive:  
-  } else {
-    digitalWrite(R_EN_PIN, LOW);
-    digitalWrite(L_EN_PIN, LOW);
-  }
+
+      
 
     // react to Serial input (new target position):
     // if (recvWithEndMarker()) {targetPosition = readNewTarget();}