diff --git a/CMakeLists.txt b/CMakeLists.txt
index e7326fc..89028a3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -80,6 +80,7 @@ target_compile_options(motortest.elf PRIVATE
 #    -DPWM_FREQ_12KHZ
 #    -DFEATURE_BUTTON
 #    -DPETERS_PLATINE
+#    -DSHUNT_4_MILLIOHM
 #    -DHUART2
 #    -DHUART3
 #    -DFEATURE_SERIAL_CONTROL
@@ -106,6 +107,7 @@ target_compile_options(motortest_peter.elf PRIVATE
     #    -DPWM_FREQ_12KHZ
     #    -DFEATURE_BUTTON
     -DPETERS_PLATINE
+#    -DSHUNT_4_MILLIOHM
     #     -DFEATURE_INVERT_HALL
     #    -DHUART2
     #    -DHUART3
@@ -134,6 +136,7 @@ target_compile_options(feedcode-front.elf PRIVATE
 #    -DPWM_FREQ_12KHZ
 #    -DFEATURE_BUTTON
     -DPETERS_PLATINE
+#    -DSHUNT_4_MILLIOHM
 #    -DHUART2
 #    -DHUART3
 #    -DFEATURE_SERIAL_CONTROL
@@ -160,6 +163,7 @@ target_compile_options(feedcode-back.elf PRIVATE
 #    -DPWM_FREQ_12KHZ
 #    -DFEATURE_BUTTON
     -DPETERS_PLATINE
+#    -DSHUNT_4_MILLIOHM
 #    -DHUART2
 #    -DHUART3
 #    -DFEATURE_SERIAL_CONTROL
@@ -186,6 +190,7 @@ target_compile_options(greyhash.elf PRIVATE
     -DPWM_FREQ_12KHZ
 #    -DFEATURE_BUTTON
     -DPETERS_PLATINE
+#    -DSHUNT_4_MILLIOHM
 #    -DHUART2
     -DHUART3
     -DFEATURE_SERIAL_CONTROL
@@ -212,6 +217,7 @@ target_compile_options(pcbv2_front.elf PRIVATE
         #    -DPWM_FREQ_12KHZ
         #    -DFEATURE_BUTTON
         -DPETERS_PLATINE
+        #    -DSHUNT_4_MILLIOHM
         #    -DHUART2
         #    -DHUART3
         #    -DFEATURE_SERIAL_CONTROL
@@ -239,6 +245,7 @@ target_compile_options(pcbv2_back.elf PRIVATE
         #    -DPWM_FREQ_12KHZ
         #    -DFEATURE_BUTTON
         -DPETERS_PLATINE
+        #    -DSHUNT_4_MILLIOHM
         #    -DHUART2
         #    -DHUART3
         #    -DFEATURE_SERIAL_CONTROL
@@ -266,6 +273,7 @@ target_compile_options(pcbv2_test.elf PRIVATE
         #    -DPWM_FREQ_12KHZ
         #    -DFEATURE_BUTTON
         -DPETERS_PLATINE
+        #    -DSHUNT_4_MILLIOHM
         #    -DHUART2
         #    -DHUART3
         #    -DFEATURE_SERIAL_CONTROL
@@ -316,6 +324,7 @@ target_compile_options(commander_v2_front.elf PRIVATE
         #    -DPWM_FREQ_12KHZ
         #    -DFEATURE_BUTTON
         -DPETERS_PLATINE
+        -DSHUNT_4_MILLIOHM
         #    -DHUART2
         #    -DHUART3
         #    -DFEATURE_SERIAL_CONTROL
@@ -366,6 +375,7 @@ target_compile_options(commander_v2_back.elf PRIVATE
         #    -DPWM_FREQ_12KHZ
         #    -DFEATURE_BUTTON
         -DPETERS_PLATINE
+        -DSHUNT_4_MILLIOHM
         #    -DHUART2
         #    -DHUART3
         #    -DFEATURE_SERIAL_CONTROL
diff --git a/main.cpp b/main.cpp
index c229ac9..a706bc4 100644
--- a/main.cpp
+++ b/main.cpp
@@ -464,15 +464,15 @@ void updateMotors()
     static int16_t offsetdcl{2000};
     static int16_t offsetdcr{2000};
 
-    if (offsetcount < 2000) // calibrate ADC offsets
+    if (offsetcount < 20000) // calibrate ADC offsets
     {
         offsetcount++;
-        offsetrl1 = (adc_buffer.rl1 + offsetrl1) / 2;
-        offsetrl2 = (adc_buffer.rl2 + offsetrl2) / 2;
-        offsetrr1 = (adc_buffer.rr1 + offsetrr1) / 2;
-        offsetrr2 = (adc_buffer.rr2 + offsetrr2) / 2;
-        offsetdcl = (adc_buffer.dcl + offsetdcl) / 2;
-        offsetdcr = (adc_buffer.dcr + offsetdcr) / 2;
+        offsetrl1 = (adc_buffer.rl1 + offsetrl1 * 9) / 10;
+        offsetrl2 = (adc_buffer.rl2 + offsetrl2 * 9) / 10;
+        offsetrr1 = (adc_buffer.rr1 + offsetrr1 * 9) / 10;
+        offsetrr2 = (adc_buffer.rr2 + offsetrr2 * 9) / 10;
+        offsetdcl = (adc_buffer.dcl + offsetdcl * 9) / 10;
+        offsetdcr = (adc_buffer.dcr + offsetdcr * 9) / 10;
         return;
     }
 
@@ -496,6 +496,12 @@ void updateMotors()
 #endif
     int16_t curR_DC   = (int16_t)(offsetdcr - adc_buffer.dcr);
 
+
+#ifdef SHUNT_4_MILLIOHM
+    curL_DC *= 2.276;
+    curR_DC *= 2.276;
+#endif
+
     const bool chopL = std::abs(curL_DC) > (left.iDcMax.load() * AMPERE2BIT_CONV);
     if (chopL)
         left.chops++;