diff --git a/src/core_pkg/core_pkg/core_node.py b/src/core_pkg/core_pkg/core_node.py
index 69977a4..870bf1c 100644
--- a/src/core_pkg/core_pkg/core_node.py
+++ b/src/core_pkg/core_pkg/core_node.py
@@ -245,7 +245,7 @@ class SerialRelay(Node):
         if abs(linear) > 1 or abs(angular) > 1:
             # if speed is greater than 1, then there is a problem
             # make it look like a problem and don't just run away lmao
-            linear = copysign(0.25, linear)
+            linear = copysign(0.25, linear)  # 0.25 duty cycle in direction of control (hopefully slow)
             angular = copysign(0.25, angular)
 
         duty_left = linear - angular
diff --git a/src/ros2_interfaces_pkg b/src/ros2_interfaces_pkg
index f7276a2..d6806af 160000
--- a/src/ros2_interfaces_pkg
+++ b/src/ros2_interfaces_pkg
@@ -1 +1 @@
-Subproject commit f7276a2c272ed94b9ce1254ee79d79b81a52832a
+Subproject commit d6806af6c3a82a75a4a1de1393154545a56c0ea6