diff --git a/src/LimitCalib.cpp b/src/LimitCalib.cpp
index 15901206c..02b3fc46a 100644
--- a/src/LimitCalib.cpp
+++ b/src/LimitCalib.cpp
@@ -69,11 +69,9 @@ int main() {
 	navtypes::Vectord<2> targetPosVec; 
 	std::array<robot::types::motorid_t, 2> motorNames;
 
-	int i = 0;
-	for (const auto& runningMotor : encMotors) {
-		motorNames[i] = runningMotor.first;
-		targetPosVec[i] = runningMotor.second.stdPos;
-		i++;
+	for (int i = 0; i < encMotors.size(); i++) {
+		motorNames[i] = encMotors.at(i)->first;
+		targetPosVec[i] = encMotors.at(i)->second.stdPos;
 	}
 	
 	// mess with putting the std Pos's in a vector to begin with 
@@ -86,18 +84,12 @@ int main() {
 
 	JacobianVelController<2,2> controller([](Eigen::VectorXd x) { return x; }, {});
 	
-	bool done = false;
-	while(!done) {
-		navtypes::Vectord<2> targetVel = profile.getCommand(currTime);
-		double d;
-		navtypes::Vectord<2>  targetPos = controller.getCommand(currTime, targetVel, d);
-		i = 0;
-		for (const auto& element : sortedKeys) {
-			robot::setMotorPos(element, targetPos[i]);	
-			i++;
-		}
-		if (i == sortedKeys.size()) {
-			done = true;
-		}
+	navtypes::Vectord<2> targetVel = profile.getCommand(currTime);
+	double d;
+	navtypes::Vectord<2>  targetPos = controller.getCommand(currTime, targetVel, d);
+	int i = 0;
+	for (const auto& element : sortedKeys) {
+		robot::setMotorPos(element, targetPos[i]);	
+		i++;
 	}
 }