diff --git a/motion/control/gripper_tb/platformio.ini b/motion/control/gripper_tb/platformio.ini
index d00ae19e..b1d46b21 100644
--- a/motion/control/gripper_tb/platformio.ini
+++ b/motion/control/gripper_tb/platformio.ini
@@ -14,4 +14,3 @@ board = nanoatmega328
 framework = arduino
 lib_deps = 
 	easyg0ing1/SimpleEncoder@^1.1.1
-	madhephaestus/ESP32Servo@^1.1.0
diff --git a/motion/control/gripper_tb/src/main.cpp b/motion/control/gripper_tb/src/main.cpp
index 29bccd30..61600234 100644
--- a/motion/control/gripper_tb/src/main.cpp
+++ b/motion/control/gripper_tb/src/main.cpp
@@ -1,5 +1,6 @@
 #include <Arduino.h>
 
+// define pins used
 #define servo_pwm_pin 6
 #define dc_motor_pwm_pin 5
 #define ks_pin 2
@@ -7,70 +8,77 @@
 #define red_led 9
 #define pot_pin A1
 
+// defining constants f
 #define pwm_full_duty 1860
 #define pwm_zero_duty 1060
 
+// global variables 
 uint16_t control_val = 0;
 unsigned long dc_motor_pwm_timer = 0;
-uint16_t duty = 0;
+uint16_t duty_cycle = 0;
+const float adc_to_percent = 100/1023;
+bool ks_off = 1;
 
-// put function declarations here:
-// bool ks_active();
-
-void dc_motor_pwm_control(int duty);
-void check_initial_duty();
+// function declarations
+uint8_t adc_to_duty_percent(int adc_val);
+uint16_t duty_percent_to_period(uint8_t duty_percent);
+void dc_motor_pwm_control(uint16_t duty);
+void check_duty_low();
 
 void setup() {
-  // put your setup code here, to run once:
+  // Setup pins for inn and output
   pinMode(green_led, OUTPUT);
   pinMode(red_led, OUTPUT);
   pinMode(dc_motor_pwm_pin, OUTPUT);
   pinMode(servo_pwm_pin, OUTPUT);
+  pinMode(pot_pin, INPUT);
   pinMode(ks_pin, INPUT);
-
-  check_initial_duty();
+  // dont start program unless dc control is at 0
+  check_duty_low();
 }
-
+// Main loop
 void loop() {
   // put your main code here, to run repeatedly:
-  if (ks_pin) {
+  ks_off = digitalRead(ks_pin);
+  if (ks_off == 1) {
     control_val = analogRead(pot_pin);
-    dc_motor_pwm_control(duty)
+    dc_motor_pwm_control(duty_percent_to_period(adc_to_duty_percent(control_val)));
+  }
+  else {
+    check_duty_low();
   }
 }
 
 /*
-bool KS_not_triggered() {
-  if (ks_pin = HIGH) {
-      return true
-  }
+* 
+*/
+uint8_t adc_to_duty_percent(int adc_val) {
+  uint8_t duty_percent = adc_val*(adc_to_percent);
+  return duty_percent;
+}
 
+uint16_t duty_percent_to_period(uint8_t duty_percent) {
+  uint16_t duty = duty_percent*8;
+  return duty;
 }
-*/
-void dc_motor_pwm_control(int duty) {
-  if (dc_motor_pwm_timer + duty + 1060 > micros())
+
+void dc_motor_pwm_control(uint16_t duty_cycle) {
+  if (dc_motor_pwm_timer + duty_cycle + pwm_zero_duty > micros()) {
+    pinMode(dc_motor_pwm_pin, LOW);
+    if (dc_motor_pwm_timer + pwm_full_duty > micros()) {
+      dc_motor_pwm_timer = micros();
+      pinMode(dc_motor_pwm_pin, HIGH);
+    }
+  }
 }
 
-void check_initial_duty() {
+void check_duty_low() {
   control_val = analogRead(pot_pin);
-  while (control_val >= 1) {
+  while (control_val > 20) {
     control_val = analogRead(pot_pin);
     digitalWrite(red_led, HIGH);
     digitalWrite(green_led, LOW);
   }
   digitalWrite(green_led, HIGH);
   digitalWrite(red_led, LOW);
-}
-
-/*
-ADC converter for potmeter
-
-pwm dc_motor
-
-pwm_servo
-
-bool KS_active() {
-
-}
-
-*/
+}
\ No newline at end of file