diff --git a/esp32/include/motion.h b/esp32/include/motion.h
index 3825573..7e76055 100644
--- a/esp32/include/motion.h
+++ b/esp32/include/motion.h
@@ -59,7 +59,6 @@ class MotionService {
     void handleInput(JsonVariant &root, int originId) {
         JsonArray array = root.as<JsonArray>();
         command.lx = array[1];
-        command.lx = array[1];
         command.ly = array[2];
         command.rx = array[3];
         command.ry = array[4];
@@ -123,7 +122,7 @@ class MotionService {
         return update_angles(new_angles, angles);
     }
 
-    bool update_angles(float new_angles[12], float angles[12], bool useLerp = true) {
+    bool update_angles(float new_angles[12], float angles[12], bool useLerp = false) {
         bool updated = false;
         for (int i = 0; i < 12; i++) {
             float new_angle = useLerp ? lerp(angles[i], new_angles[i] * dir[i], 0.3) : new_angles[i] * dir[i];
diff --git a/esp32/include/peripherals/servo_controller.h b/esp32/include/peripherals/servo_controller.h
index 2ca4e21..760a534 100644
--- a/esp32/include/peripherals/servo_controller.h
+++ b/esp32/include/peripherals/servo_controller.h
@@ -98,7 +98,7 @@ class ServoController : public StatefulService<ServoSettings> {
     void calculatePWM() {
         uint16_t pwms[12];
         for (int i = 0; i < 12; i++) {
-            angles[i] = lerp(angles[i], target_angles[i], 0.05);
+            angles[i] = lerp(angles[i], target_angles[i], 0.1);
             auto &servo = state().servos[i];
             float angle = servo.direction * angles[i] + servo.centerAngle;
             uint16_t pwm = angle * servo.conversion + servo.centerPwm;