diff --git a/app.py b/app.py
index 3395906..e622055 100644
--- a/app.py
+++ b/app.py
@@ -9,8 +9,8 @@ import kuukar.kuukar_environment as kuukar_environment
 
 from kuukar.kuukar_config import SERIAL_MCU, SERIAL_DRV
 
-mcu = telemetrix_rpi_pico.TelemetrixRpiPico(com_port=SERIAL_MCU, sleep_tune=0.001)
-drv = telemetrix_rpi_pico.TelemetrixRpiPico(com_port=SERIAL_DRV, sleep_tune=0.001)
+mcu = telemetrix_rpi_pico.TelemetrixRpiPico(com_port=SERIAL_MCU)
+drv = telemetrix_rpi_pico.TelemetrixRpiPico(com_port=SERIAL_DRV)
 sensors = kuukar_sensors.sensors(mcu)
 leds = kuukar_leds.leds(mcu)
 motion = kuukar_motion.motion(mcu, drv, leds, sensors)
diff --git a/kuukar/kuukar_leds.py b/kuukar/kuukar_leds.py
index 27d46ef..38e7d2d 100644
--- a/kuukar/kuukar_leds.py
+++ b/kuukar/kuukar_leds.py
@@ -79,5 +79,5 @@ class leds:
             print(leds.__blink_func(self.__get_time(), duration))
             time.sleep(0.05)
             if self.__get_time() > duration:
-                self.flashing = False
+                flashing = False
                 break
diff --git a/kuukar/kuukar_motion.py b/kuukar/kuukar_motion.py
index 9bde2a7..8513a6b 100644
--- a/kuukar/kuukar_motion.py
+++ b/kuukar/kuukar_motion.py
@@ -110,7 +110,6 @@ class motion:
         while True:
             if self.roaming:
                 self.__roam_handle()
-            time.sleep(0.3)
 
     def __roam_handle(self):
         sensitivity = 35
@@ -150,4 +149,5 @@ class motion:
                     self.turn(-turn_speed, 1)
                     self.drive(drive_speed)
         if not self.roaming:
-            self.stop()
\ No newline at end of file
+            self.stop()
+        time.sleep(0.3)
\ No newline at end of file