diff --git a/Rotabator.ino b/Rotabator.ino
index d49722a..81a7996 100644
--- a/Rotabator.ino
+++ b/Rotabator.ino
@@ -1,96 +1,66 @@
-#if defined(ESP8266)
-#include <ESP8266WiFi.h>
-#include "MPU9250.h"
-#else
 #include <WiFi.h>
-#endif
-#include <WiFiUdp.h>
-#include <OSCMessage.h>
+#include <WiFiUdp.h> 
+#include <OSCMessage.h> 
+#include <OSCBundle.h> 
+#include <OSCData.h>
+char ssid[] = "cohabit"; // your network SSID (name)
+char pass[] = "lewifidecohabit"; // your network password
 
-char ssid[] = "cohabit";          // your network SSID (name)
-char pass[] = "lewifidecohabit";  // your network password
-
-int update_rate = 1000000;
-
-
-WiFiUDP Udp;
 // A UDP instance to let us send and receive packets over UDP
-const IPAddress outIp(192, 168, 0, 210);  // remote IP of your computer
-const unsigned int outPort = 16403;        // remote port to receive OSC
-const unsigned int localPort = 16384;      // local port to listen for OSC packets (actually not used for sending)
+WiFiUDP Udp;
+const unsigned int localPort = 16403; // local port to listen for UDP packets (here's where we send the packets)
+int stepPin = 14;
+int dirPin = 12;
 
-void setup() {
-  Serial.begin(115200);
+void setup()
+{
+Serial.begin(115200);
+// initialize LED digital pin as an output.
+pinMode(stepPin, OUTPUT);
+pinMode(dirPin, OUTPUT);
+Serial.println();
+Serial.print("Connecting to ");
+Serial.println(ssid);
+WiFi.begin(ssid, pass);
 
-  // Connect to WiFi network
-  Serial.println();
-  Serial.println();
-  Serial.print("Connecting to ");
-  Serial.println(ssid);
-  WiFi.begin(ssid, pass);
-
-  while (WiFi.status() != WL_CONNECTED) {
-    delay(500);
-    Serial.print(".");
-  }
-  Serial.println("");
-
-  Serial.println("WiFi connected");
-  Serial.println("IP address: ");
-  Serial.println(WiFi.localIP());
-
-  Serial.println("Starting UDP");
-  Udp.begin(localPort);
-  Serial.print("Local port: ");
-#ifdef ESP32
-  Serial.println(localPort);
-#else
-  Serial.println(Udp.localPort());
-#endif
+while (WiFi.status() != WL_CONNECTED) {
+delay(500);
+Serial.print(".");
 }
-void ledtoggle(OSCMessage &msg) {
-  switch (msg.getInt(0)) {
-    case 0:
-      digitalWrite(LED_BUILTIN, LOW);
-      break;
-    case 1:
-      digitalWrite(LED_BUILTIN, HIGH);
-      break;
-  }
+Serial.println("");
+
+Serial.println("WiFi connected");
+Serial.println("IP address: ");
+Serial.println(WiFi.localIP());
+
+Serial.println("Starting UDP");
+Udp.begin(localPort);
+Serial.print("Local port: ");
+Serial.println(localPort);
+digitalWrite(dirPin, HIGH);
 }
 
-void receiveMessage() {
-  OSCMessage inmsg;
-  int size = Udp.parsePacket();
-
-  if (size > 0) {
-    while (size--) {
-      inmsg.fill(Udp.read());
-    }
-    if (!inmsg.hasError()) {
-      inmsg.dispatch("/led", ledtoggle);
-    }
-    //else { auto error = inmsg.getError(); }
-  }
+void step(OSCMessage &msg) {
+switch (msg.getInt(0)) {
+case 0:
+digitalWrite(stepPin, LOW);
+break;
+case 1:
+digitalWrite(stepPin, HIGH);
+break;
+}
 }
 
-void loop() {
-  receiveMessage();
-  OSCMessage msg("/step");
-  msg.add(1);
-  Udp.beginPacket(outIp, outPort);
-  msg.send(Udp);
-  Udp.endPacket();
-  msg.empty();
-  delayMicroseconds(update_rate);
-  OSCMessage msg2("/Step");
-  msg2.add(0);
-  Udp.beginPacket(outIp, outPort);
-  msg2.send(Udp);
-  Udp.endPacket();
-  msg2.empty();
-  delayMicroseconds(update_rate);
-  
+void loop()
+{
+OSCMessage msg;
+int size = Udp.parsePacket();
 
-  
+if (size > 0) {
+while (size--) {
+msg.fill(Udp.read());
+}
+//step(msg);
+step(msg);
+}
 }
\ No newline at end of file