diff --git a/spinnyboy_rust/src/bin/main.rs b/spinnyboy_rust/src/bin/main.rs
index edec710..e6e8bac 100644
--- a/spinnyboy_rust/src/bin/main.rs
+++ b/spinnyboy_rust/src/bin/main.rs
@@ -128,8 +128,8 @@ fn main() -> ! {
     //PID-Controller
     let loop_time = Duration::from_micros(10);
     let cfg = pid::PidConfigBuilder::default()
-        .kp(3.0)
-        .ki(1.0)
+        .kp(0.4)
+        .ki(0.0)
         .output_limits(100.00, 2040.00)
         .sample_time(loop_time)
         .filter_tc(0.1)
@@ -138,12 +138,11 @@ fn main() -> ! {
     let controller = pid::FuncPidController::new(cfg);
     let mut ctx = PidContext::new(Millis(0), 0.0, 0.0);
     let set_point = DEFAULT_TARGET_RPM;
-    dshot_esc.arm();
     let mut rpm = 0;
     let mut control: f32 = 200.0;
     let mut timg0 = TimerGroup::new(peripherals.TIMG0);
     let coat_timer = timg0.timer0;
-    dshot_esc.set_throttle(0);
+    // shot_esc.set_throttle(0);
     // let mut esc = AfroEsc::new(&mut pwm_pin);;
     // esc.set_timestamp(1000);
     // delay.delay_millis(3000);
@@ -224,15 +223,16 @@ fn main() -> ! {
         }
         if started {
             rprintln!("STARTING!");
-            // spincoater.armed();
             let _ = coat_timer
                 .load_value(esp_hal::time::Duration::from_secs(10))
                 .expect("TODO: Could not set timer for coating! ");
+            dshot_esc.arm();
             coat_timer.start();
             while !coat_timer.is_interrupt_set() {
                 dshot_esc.process();
                 //let control_val = dc_driver::
                 //this bad boy needs floats, this will be fun :)
+                control = 200.00;
                 dshot_esc.set_throttle(control as _);
                 rpm = match dshot_esc.get_rpm() {
                     Some(x) => {
@@ -253,13 +253,17 @@ fn main() -> ! {
                 (control, ctx) =
                     controller.compute(ctx, rpm as _, set_point as _, Millis(timestamp), None);
                 let dumped_context = ctx.last_time().expect("LAST TIME!");
-                // rprintln!("control:{},rpm:{}", control,rpm);
+                rprintln!("control:{},rpm:{}", control,rpm);
                 //first we send the RPM!
-                let running_rpm = format!("running_rpm.val={}", rpm);
-                display.send_command(running_rpm.to_string().as_bytes());
+                if display.write_ready(){
+                    let running_rpm = format!("running_rpm.val={}", rpm);
+                    display.send_command(running_rpm.to_string().as_bytes());
+                }
+                if display.write_ready(){
+                    let counter = format!("counter.val={}", 1234);
+                    display.send_command(counter.to_string().as_bytes());
 
-                let counter = format!("counter.val={}", 1234);
-                display.send_command(counter.to_string().as_bytes());
+                }
             }
 
             rprintln!("COATING done!");
diff --git a/spinnyboy_rust/src/bin/peripherals/nextion.rs b/spinnyboy_rust/src/bin/peripherals/nextion.rs
index b25ae65..ce11981 100644
--- a/spinnyboy_rust/src/bin/peripherals/nextion.rs
+++ b/spinnyboy_rust/src/bin/peripherals/nextion.rs
@@ -123,6 +123,9 @@ impl<'a> Nextion<'a> {
     pub fn read_ready(&mut self) -> bool {
         self.interface.read_ready()
     }
+    pub fn write_ready(&mut self) -> bool {
+        self.interface.write_ready()
+    }
     fn reset(&mut self) {
         self.state = UartStatemachine::WaitingP;
         self.idx = 0;