diff --git a/.idea/dualpanto-testing.iml b/.idea/dualpanto-testing.iml
index edfb3df..673a12b 100644
--- a/.idea/dualpanto-testing.iml
+++ b/.idea/dualpanto-testing.iml
@@ -5,7 +5,7 @@
       <excludeFolder url="file://$MODULE_DIR$/.venv" />
       <excludeFolder url="file://$MODULE_DIR$/venv" />
     </content>
-    <orderEntry type="jdk" jdkName="Python 3.12" jdkType="Python SDK" />
+    <orderEntry type="inheritedJdk" />
     <orderEntry type="sourceFolder" forTests="false" />
   </component>
 </module>
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
index 0473f7c..5306ec9 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -3,7 +3,7 @@
   <component name="Black">
     <option name="sdkName" value="Python 3.9" />
   </component>
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.12" project-jdk-type="Python SDK" />
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.10 (dualpanto-testing)" project-jdk-type="Python SDK" />
   <component name="PythonCompatibilityInspectionAdvertiser">
     <option name="version" value="3" />
   </component>
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
index 35eb1dd..8cc8d57 100644
--- a/.idea/vcs.xml
+++ b/.idea/vcs.xml
@@ -2,5 +2,6 @@
 <project version="4">
   <component name="VcsDirectoryMappings">
     <mapping directory="" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/firmware/dualpantoframework" vcs="Git" />
   </component>
 </project>
\ No newline at end of file
diff --git a/firmware/dualpantoframework b/firmware/dualpantoframework
index d1fe262..bf9fc19 160000
--- a/firmware/dualpantoframework
+++ b/firmware/dualpantoframework
@@ -1 +1 @@
-Subproject commit d1fe262166f9b4056af7a65c5f623c22d5555f52
+Subproject commit bf9fc19ba0bbccf60aad89887eac8359b9e17ef8
diff --git a/firmware/encoder_driver/.pio/build/project.checksum b/firmware/encoder_driver/.pio/build/project.checksum
new file mode 100644
index 0000000..9adfbb5
--- /dev/null
+++ b/firmware/encoder_driver/.pio/build/project.checksum
@@ -0,0 +1 @@
+968caab0725b5d8599713d5369e9249d4c607f65
\ No newline at end of file
diff --git a/firmware/haptics/BIS week7 Kinematics/firmware/.idea/vcs.xml b/firmware/haptics/BIS week7 Kinematics/firmware/.idea/vcs.xml
index 77a3cc7..1810c40 100644
--- a/firmware/haptics/BIS week7 Kinematics/firmware/.idea/vcs.xml	
+++ b/firmware/haptics/BIS week7 Kinematics/firmware/.idea/vcs.xml	
@@ -3,5 +3,6 @@
   <component name="VcsDirectoryMappings">
     <mapping directory="$PROJECT_DIR$/../../../.." vcs="Git" />
     <mapping directory="$PROJECT_DIR$/../../.." vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/../../../dualpantoframework" vcs="Git" />
   </component>
 </project>
\ No newline at end of file
diff --git a/firmware/haptics/line wall/firmware/src/physicsMain.cpp b/firmware/haptics/line wall/firmware/src/physicsMain.cpp
index 1dad6d4..f977e02 100644
--- a/firmware/haptics/line wall/firmware/src/physicsMain.cpp	
+++ b/firmware/haptics/line wall/firmware/src/physicsMain.cpp	
@@ -71,9 +71,12 @@ void physicsSetup()
 
         std::vector<Vector2D> path;
         // render line wall
-        path.emplace_back(-40.0f, -70.0f);
-        path.emplace_back(40.0f, -70.0f);
-
+        path.emplace_back(-100.0f, -70.0f);
+        path.emplace_back(150.0f, -70.0f);
+//        path.emplace_back(-20.0f,-35.0f);
+//        path.emplace_back(-20.0f,-70.0f);
+//        path.emplace_back(20.0f,-70.0f);
+//        path.emplace_back(20.0f,-35.0f);
         auto id = 1;
         pantoPhysics[i].godObject()->createObstacle(id, path, false);
         pantoPhysics[i].godObject()->enableObstacle(id, true);
diff --git a/firmware/hardware/linkage encoder/platformio.ini b/firmware/hardware/linkage encoder/platformio.ini
index d083aa9..5828d49 100644
--- a/firmware/hardware/linkage encoder/platformio.ini	
+++ b/firmware/hardware/linkage encoder/platformio.ini	
@@ -5,8 +5,8 @@ description = Dual Panto firmware
 platform = espressif32@2.1.0
 framework = arduino
 board = esp32dev
-#monitor_speed = 115200
-monitor_speed = 9600
+monitor_speed = 115200
+;monitor_speed = 9600
 build_flags= 
     -mtext-section-literals
 lib_deps = https://github.com/PaulStoffregen/Encoder.git
diff --git a/firmware/hardware/linkage encoder/src/main.cpp b/firmware/hardware/linkage encoder/src/main.cpp
index ab6f9b7..09e6105 100644
--- a/firmware/hardware/linkage encoder/src/main.cpp	
+++ b/firmware/hardware/linkage encoder/src/main.cpp	
@@ -26,7 +26,7 @@ uint16_t buf = 0;
 
 void setup()
 {
-    Serial.begin(9600);    // opens serial port, sets data rate to 9600 bps
+    Serial.begin(115200);    // opens serial port, sets data rate to 9600 bps
 
     pinMode(13, OUTPUT);
     pinMode(c_hspiSsPin1, OUTPUT);
diff --git a/test_firmware.py b/test_firmware.py
index 067a16e..3539f55 100644
--- a/test_firmware.py
+++ b/test_firmware.py
@@ -105,5 +105,6 @@ def test_BIS_week7_kinematics(self):
 
 class UploadDualPantoFramework(unittest.TestCase):
     def test_upload_dp_firmware(self):
-        res = util.compile_firmware('firmware/dualpantoframework')
+        res = util.compile_firmware('firmware/dualpantoframework/firmware ')
         self.assertEqual(res, 0, msg='failed to compile firmware. please first check platformIO config and installation')
+
diff --git a/test_hardware.py b/test_hardware.py
index 912584c..15b53b6 100644
--- a/test_hardware.py
+++ b/test_hardware.py
@@ -100,7 +100,7 @@ def test_sync(self):
 
     def handle_serial_connection(self):
         print("Connecting...")
-        with serial.Serial(config.COM_PORT, 9600, timeout=1, parity=serial.PARITY_EVEN) as ser:
+        with serial.Serial(config.COM_PORT, 115200, timeout=1, parity=serial.PARITY_EVEN) as ser:
             time.sleep(1)
             self.assertNotEqual(ser.inWaiting(), 0,
                                 msg="could not establish serial connection... try restarting the panto")