diff --git a/src/Groundstation/RotatingPlatform/Actuators/Actuators.cpp b/src/Groundstation/RotatingPlatform/Actuators/Actuators.cpp
index 6210a7718b6c2939e2c924ca3a5de8b0b456105d..63a2ccc9ffc9bd478b3635dcb14018dae032bfa2 100644
--- a/src/Groundstation/RotatingPlatform/Actuators/Actuators.cpp
+++ b/src/Groundstation/RotatingPlatform/Actuators/Actuators.cpp
@@ -70,17 +70,22 @@ Actuators::Actuators(StepperConfig config)
 
 void Actuators::run()
 {
+    int logNr = Logger::getInstance().getCurrentLogNumber();
     while (true)
     {
+        std::cout << "Log nr " << logNr << std::endl;
+        std::cout << "Speed limit is " << configX.MAX_SPEED << std::endl;
         {
             miosix::Lock<FastMutex> lock(rotationMutex);
 
-            float stepSpeed = ACCELERATION * (TIME_WAIT_MS / 1000);
+            float stepSpeed  = ACCELERATION * (TIME_WAIT_MS / 1000);
+            float multiplier = 2.2;
 
             // Acceleration/stable phase
             if (stepperX.isEnabled() && isRotating)
             {
-                if (speed < configX.MAX_SPEED && speed < MAX_MAX_SPEED)
+                if (speed < configX.MAX_SPEED / multiplier &&
+                    speed < MAX_MAX_SPEED)
                     speed += stepSpeed;
                 if (speed > configX.MAX_SPEED)
                     speed = configX.MAX_SPEED;
@@ -104,7 +109,7 @@ void Actuators::run()
                 setSpeed(StepperList::STEPPER_X, 0.0);
             }
         }
-        moveDeg(StepperList::STEPPER_X, 20);
+        moveDeg(StepperList::STEPPER_X, -20);
         Thread::sleep(TIME_WAIT_MS);
     }
 }
diff --git a/src/Groundstation/RotatingPlatform/Actuators/Actuators.h b/src/Groundstation/RotatingPlatform/Actuators/Actuators.h
index 9102e8a50bd320d4d98171a66e57a69d61071e7e..1a5259c198a98d75cd4161975997f73f967713be 100644
--- a/src/Groundstation/RotatingPlatform/Actuators/Actuators.h
+++ b/src/Groundstation/RotatingPlatform/Actuators/Actuators.h
@@ -38,9 +38,9 @@
 namespace RotatingPlatform
 {
 static constexpr float MAX_MAX_SPEED =
-    0.03;  // Structurally not go more than this
+    0.5 * 2.2;  // Structurally not go more than this
 static constexpr float ACCELERATION = 0.01;  //[RPS^2]
-static constexpr float TIME_WAIT_MS = 100;  //[MS]
+static constexpr float TIME_WAIT_MS = 100;   //[MS]
 
 /**
  * @brief Error handling enum for the stepper movement
diff --git a/src/Groundstation/RotatingPlatform/Actuators/ActuatorsConfig.h b/src/Groundstation/RotatingPlatform/Actuators/ActuatorsConfig.h
index f076a8f01a4e9418d19552d80d4355fb659e79f4..eb0f958cb897009295f809f1ec736e57da201155 100644
--- a/src/Groundstation/RotatingPlatform/Actuators/ActuatorsConfig.h
+++ b/src/Groundstation/RotatingPlatform/Actuators/ActuatorsConfig.h
@@ -37,7 +37,7 @@ static const RotatingPlatform::StepperConfig stepperXConfig{
     .HAS_ANGLE_LIMITS = false,
     .MIN_ANGLE        = 0,
     .MAX_ANGLE        = 0,
-    .MAX_SPEED        = 0.1,  //<[RPS]
+    .MAX_SPEED        = 0.105 * 2.2,  //<[RPS] * multiplier (transmission)
 };
 
 namespace StepperSettings