diff --git a/Src/main.c b/Src/main.c
index 9571c0b..00a7374 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -82,8 +82,8 @@ extern uint8_t enable;                  // global variable for motor enable
 
 extern int16_t batVoltage;              // global variable for battery voltage
 
-//extern int16_t curL_DC;                 // global variable for left motor current. to get current in Ampere divide by A2BIT_CONV
-//extern int16_t curR_DC;                 // global variable for right motor current
+extern int16_t curL_DC;                 // global variable for left motor current. to get current in Ampere divide by A2BIT_CONV
+extern int16_t curR_DC;                 // global variable for right motor current
 extern int16_t curL_phaA;
 extern int16_t curL_phaB;
 extern int16_t curR_phaA;
@@ -157,8 +157,8 @@ static int16_t    speed;                // local variable for speed. -1000 to 10
   static int16_t speedRightRateFixdt;    // local fixed-point variable for speed rate limiter
   //static int32_t  steerFixdt;           // local fixed-point variable for steering low-pass filter
   //static int32_t  speedFixdt;           // local fixed-point variable for speed low-pass filter
-  static int16_t speedLeftFixdt;        // local fixed-point variable for speedLeft low-pass filter
-  static int16_t speedRightFixdt;        // local fixed-point variable for speedRight low-pass filter
+  static int32_t speedLeftFixdt;        // local fixed-point variable for speedLeft low-pass filter
+  static int32_t speedRightFixdt;        // local fixed-point variable for speedRight low-pass filter
 #endif
 
 static uint32_t    inactivity_timeout_counter;
@@ -297,7 +297,7 @@ int main(void) {
       filtLowPass32(speedLeftRateFixdt >> 4, FILTER, &speedLeftFixdt);
       filtLowPass32(speedRightRateFixdt >> 4, FILTER, &speedRightFixdt);
       speedL = (int16_t)(speedLeftFixdt >> 16);  // convert fixed-point to integer
-      speedR = (int16_t)(speedRightRateFixdt >> 16);  // convert fixed-point to integer
+      speedR = (int16_t)(speedRightFixdt >> 16);  // convert fixed-point to integer
 
       // ####### VARIANT_HOVERCAR #######
       #ifdef VARIANT_HOVERCAR
@@ -315,8 +315,9 @@ int main(void) {
       // cmdR = CLAMP((int)(speed * SPEED_COEFFICIENT -  steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MAX);
       // cmdL = CLAMP((int)(speed * SPEED_COEFFICIENT +  steer * STEER_COEFFICIENT), INPUT_MIN, INPUT_MAX);
       //mixerFcn(speed << 4, steer << 4, &cmdR, &cmdL);   // This function implements the equations above
-      cmdL = speedL; //straight copy, no mixing needed
-      cmdR = speedR; //straight copy
+      int16_t _temp;
+      mixerFcn(speedL << 4, ((int16_t)0) << 4, &cmdL, &_temp);   // This function implements the equations above
+      mixerFcn(speedR << 4, ((int16_t)0) << 4, &cmdR, &_temp);   // This function implements the equations above
 
       // ####### SET OUTPUTS (if the target change is less than +/- 100) #######
       if ((cmdL > cmdL_prev-100 && cmdL < cmdL_prev+100) && (cmdR > cmdR_prev-100 && cmdR < cmdR_prev+100)) {
@@ -476,10 +477,10 @@ int main(void) {
         Feedback.speedL_meas	  = (int16_t)rtY_Left.n_mot;
         Feedback.batVoltage	    = (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC);
         Feedback.boardTemp	    = (int16_t)board_temp_deg_c;
-        //Feedback.curL_DC        = (int16_t)curL_DC; //divide by A2BIT_CONV  to get current in amperes
-        //Feedback.curR_DC        = (int16_t)curR_DC;
-        Feedback.curL_DC        =  (int16_t)curL_phaA;
-        Feedback.curR_DC        =  (int16_t)curL_phaB;
+        Feedback.curL_DC        = (int16_t)curL_DC; //divide by A2BIT_CONV  to get current in amperes
+        Feedback.curR_DC        = (int16_t)curR_DC;
+        //Feedback.curL_DC        =  (int16_t)curL_phaA;
+        //Feedback.curR_DC        =  (int16_t)curL_phaB;
 
         #if defined(FEEDBACK_SERIAL_USART2)
           if(__HAL_DMA_GET_COUNTER(huart2.hdmatx) == 0) {