diff --git a/Learn/Simple Libraries/Motor/libservo360/cmm/libservo360.a b/Learn/Simple Libraries/Motor/libservo360/cmm/libservo360.a
index ab5cf292..cff7fa29 100644
Binary files a/Learn/Simple Libraries/Motor/libservo360/cmm/libservo360.a and b/Learn/Simple Libraries/Motor/libservo360/cmm/libservo360.a differ
diff --git a/Learn/Simple Libraries/Motor/libservo360/servo360.c b/Learn/Simple Libraries/Motor/libservo360/servo360.c
index 94c91717..1d629cca 100644
--- a/Learn/Simple Libraries/Motor/libservo360/servo360.c	
+++ b/Learn/Simple Libraries/Motor/libservo360/servo360.c	
@@ -121,6 +121,8 @@ void servo360_mainLoop()
         {
           int compensate = _fs[_fs[p].couple].lag - _fs[p].lag;
           compensate = _fs[p].coupleScale * compensate / S360_SCALE_DEN_COUPLE;
+          //if(_fs[p].accelerating || _fs[_fs[p].couple].accelerating) 
+          //  compensate *= 4;
           if(compensate > 500) compensate = 500;  
           // Limits pulse deviation to 50 us
     
@@ -131,6 +133,8 @@ void servo360_mainLoop()
         {
           int compensate = _fs[p].lag - _fs[_fs[p].couple].lag;
           compensate = _fs[p].coupleScale * compensate / S360_SCALE_DEN_COUPLE;
+          //if(_fs[p].accelerating || _fs[_fs[p].couple].accelerating) 
+          //  compensate *= 4;
           if(compensate > 500) compensate = 500;           
       
           if(_fs[_fs[p].couple].speedOut > 0) _fs[_fs[p].couple].speedOut -= compensate;
@@ -598,6 +602,7 @@ void servo360_speedControl(int p)
     {
       if( abs(speedDifference) > _fs[p].rampStep)
       {
+        _fs[p].accelerating = 1;
         if(speedDifference > 0)
         {
           _fs[p].speedTarget += _fs[p].rampStep;
@@ -609,6 +614,7 @@ void servo360_speedControl(int p)
       }
       else
       {
+        _fs[p].accelerating = 0;
         _fs[p].speedTarget = _fs[p].speedReq;
         //speedUpdateFlag = 0;
       }
diff --git a/Learn/Simple Libraries/Motor/libservo360/servo360.h b/Learn/Simple Libraries/Motor/libservo360/servo360.h
index d06a1925..c7db9568 100644
--- a/Learn/Simple Libraries/Motor/libservo360/servo360.h	
+++ b/Learn/Simple Libraries/Motor/libservo360/servo360.h	
@@ -10,7 +10,13 @@
 */
 
 
-#define _servo360_monitor_
+
+
+
+//#define _servo360_monitor_
+
+
+
 
 
 #ifndef SERVO360_H
@@ -290,6 +296,7 @@ typedef volatile struct servo360_s
   volatile int drive;
   volatile int stepDir;
   volatile int lag;
+  volatile int accelerating;
   
   // position control system
   volatile int Kp;
diff --git a/Learn/Simple Libraries/Motor/libservo360/servo360_connect.c b/Learn/Simple Libraries/Motor/libservo360/servo360_connect.c
index 2f70f506..eda4d5b3 100644
--- a/Learn/Simple Libraries/Motor/libservo360/servo360_connect.c	
+++ b/Learn/Simple Libraries/Motor/libservo360/servo360_connect.c	
@@ -93,6 +93,7 @@ int servo360_connect(int pinControl, int pinFeedback)
 
   _fs[p].couple = 0;
   _fs[p].coupleScale = 0;
+  _fs[p].accelerating = 0;
   
   _fs[p].feedback = 1;
 
diff --git a/Learn/Simple Libraries/Robotics/ActivityBot360/libabdrive360/cmm/libabdrive360.a b/Learn/Simple Libraries/Robotics/ActivityBot360/libabdrive360/cmm/libabdrive360.a
index 07f32bba..0ca2b0e8 100644
Binary files a/Learn/Simple Libraries/Robotics/ActivityBot360/libabdrive360/cmm/libabdrive360.a and b/Learn/Simple Libraries/Robotics/ActivityBot360/libabdrive360/cmm/libabdrive360.a differ
diff --git a/version.txt b/version.txt
index 66d62a80..92f76b42 100644
--- a/version.txt
+++ b/version.txt
@@ -1 +1 @@
-v1.4.1
+v1.4.3