diff --git a/scripts/speed_controller.py b/scripts/speed_controller.py
index c6d9212..5a322b7 100644
--- a/scripts/speed_controller.py
+++ b/scripts/speed_controller.py
@@ -89,20 +89,12 @@ def rpm_control():
         return
     
     #algorithm for RPM control
-    if ((requested_rpm - float(get_variable(variable_control_step_rpm))) < actual_rpm) or (actual_rpm < (requested_rpm + float(get_variable(variable_control_step_rpm)))):
+    if (requested_rpm - float(get_variable(variable_control_step_rpm_3))) < actual_rpm or actual_rpm < (requested_rpm + float(get_variable(variable_control_step_rpm_3))):
         if requested_rpm < actual_rpm:
-            set_output(actual_set_U - float(get_variable(variable_control_step_U)))
+            set_output(actual_set_U - float(get_variable(variable_control_step_U_3)))
         elif requested_rpm > actual_rpm:
-            set_output(actual_set_U + float(get_variable(variable_control_step_U)))
-        print("control_1")
-        return
-    
-    if (requested_rpm - float(get_variable(variable_control_step_rpm_1))) < actual_rpm or actual_rpm < (requested_rpm + float(get_variable(variable_control_step_rpm_1))):
-        if requested_rpm < actual_rpm:
-            set_output(actual_set_U - float(get_variable(variable_control_step_U_1)))
-        elif requested_rpm > actual_rpm:
-            set_output(actual_set_U + float(get_variable(variable_control_step_U_1)))
-        print("control_2")
+            set_output(actual_set_U + float(get_variable(variable_control_step_U_3)))
+        print("control_4")
         return
     
     if (requested_rpm - float(get_variable(variable_control_step_rpm_2))) < actual_rpm or actual_rpm < (requested_rpm + float(get_variable(variable_control_step_rpm_2))):
@@ -112,13 +104,21 @@ def rpm_control():
             set_output(actual_set_U + float(get_variable(variable_control_step_U_2)))
         print("control_3")
         return
-    
-    if (requested_rpm - float(get_variable(variable_control_step_rpm_3))) < actual_rpm or actual_rpm < (requested_rpm + float(get_variable(variable_control_step_rpm_3))):
+        
+    if (requested_rpm - float(get_variable(variable_control_step_rpm_1))) < actual_rpm or actual_rpm < (requested_rpm + float(get_variable(variable_control_step_rpm_1))):
         if requested_rpm < actual_rpm:
-            set_output(actual_set_U - float(get_variable(variable_control_step_U_3)))
+            set_output(actual_set_U - float(get_variable(variable_control_step_U_1)))
         elif requested_rpm > actual_rpm:
-            set_output(actual_set_U + float(get_variable(variable_control_step_U_3)))
-        print("control_4")
+            set_output(actual_set_U + float(get_variable(variable_control_step_U_1)))
+        print("control_2")
+        return
+    
+    if ((requested_rpm - float(get_variable(variable_control_step_rpm))) < actual_rpm) or (actual_rpm < (requested_rpm + float(get_variable(variable_control_step_rpm)))):
+        if requested_rpm < actual_rpm:
+            set_output(actual_set_U - float(get_variable(variable_control_step_U)))
+        elif requested_rpm > actual_rpm:
+            set_output(actual_set_U + float(get_variable(variable_control_step_U)))
+        print("control_1")
         return
     
     print("empty_run")