diff --git a/calibrate.py b/calibrate.py
index 4644953..55f1f46 100644
--- a/calibrate.py
+++ b/calibrate.py
@@ -2,7 +2,7 @@ from time import sleep
 import robot
 
 START_VALUES = [60, 60]
-THRESHOLD = 1
+THRESHOLD = 1.001
 SLEEP_TIME = 2
 
 def test_forward(arlo, l_power, r_power):
@@ -11,8 +11,8 @@ def test_forward(arlo, l_power, r_power):
     sleep(SLEEP_TIME)
     arlo.stop()
     return (
-        int(arlo.read_left_wheel_encoder()),
-        int(arlo.read_right_wheel_encoder())
+        abs(int(arlo.read_left_wheel_encoder())),
+        abs(int(arlo.read_right_wheel_encoder()))
     )
 
 def test_back(arlo, l_power, r_power):
@@ -21,8 +21,8 @@ def test_back(arlo, l_power, r_power):
     sleep(SLEEP_TIME)
     arlo.stop()
     return (
-        int(arlo.read_left_wheel_encoder()),
-        int(arlo.read_right_wheel_encoder())
+        abs(int(arlo.read_left_wheel_encoder())),
+        abs(int(arlo.read_right_wheel_encoder()))
     )
 
 
@@ -32,8 +32,8 @@ def test_clockwise(arlo, l_power, r_power):
     sleep(SLEEP_TIME)
     arlo.stop()
     return (
-        int(arlo.read_left_wheel_encoder()),
-        int(arlo.read_right_wheel_encoder())
+        abs(int(arlo.read_left_wheel_encoder())),
+        abs(int(arlo.read_right_wheel_encoder()))
     )
 
 def test_anticlockwise(arlo, l_power, r_power):
@@ -42,8 +42,8 @@ def test_anticlockwise(arlo, l_power, r_power):
     sleep(SLEEP_TIME)
     arlo.stop()
     return (
-        int(arlo.read_left_wheel_encoder()),
-        int(arlo.read_right_wheel_encoder())
+        abs(int(arlo.read_left_wheel_encoder())),
+        abs(int(arlo.read_right_wheel_encoder()))
     )
 
 def main():
@@ -79,18 +79,19 @@ def main():
     cpc = 3.14159*15*144 # wheel counts per cm
 
     # milliseconds per 10cm forward
-    time[0] = (1000 * 10 * cpc)/cps[0]
+    time[0] = int((1000 * 10 * cpc)/cps[0])
     # milliseconds per 10cm backwards
-    time[1] = (1000 * 10 * cpc)/cps[1]
+    time[1] = int((1000 * 10 * cpc)/cps[1])
 
     cpr = 3.1415*38 # 1 rotation in cm
     # milliseconds per 10 degrees clockwise
-    time[2] = (1000 * cpc)/(cps[2] * 36)
+    time[2] = int((1000 * cpc)/(cps[2] * 36))
     # milliseconds per 10 degrees anticlockwise
-    time[3] = (1000 * cpc)/(cps[3] * 36)
+    time[3] = int((1000 * cpc)/(cps[3] * 36))
 
 
-    print(values, time)
+    values_hex = "-".join([".".join([str(i) for i in v]) for v in values])
+    time_hex = "-".join([str(i) for i in time])