diff --git a/src/rove_control_board/rove_control_board/api.py b/src/rove_control_board/rove_control_board/api.py
index 632c012..2a86fdb 100644
--- a/src/rove_control_board/rove_control_board/api.py
+++ b/src/rove_control_board/rove_control_board/api.py
@@ -1,3 +1,209 @@
+# from enum import Enum, Flag
+# from typing import NoReturn
+# import capra_micro_comm_py as comm
+# from rove_control_board.canutils import CanBusCommandManager
+
+# # manager = comm.SerialCommandManager()
+# manager = CanBusCommandManager()
+
+# @manager.enum('H')
+# class StatusCode(Enum):
+#     STNotInitialized = 0
+#     STInitialized = 1
+    
+# @manager.enum('H')
+# class ErrorCode(Enum):
+#     ERNone =            0
+#     ERAdapterNotInit =  1
+#     ERServoXNACK =      2
+#     ERServoYNACK =      3
+#     ERWinchLocked =     4
+
+# @manager.enum("H")
+# class ServoControlMode(Enum):
+#     SCMNone = 0
+#     SCMPosition = 1
+#     SCMSpeed = 2
+    
+# @manager.enum("H")
+# class WinchMode(Enum):
+#     WMFreeWheel = 0
+#     WMBrake = 1
+#     WMReverse = 2
+#     WMForward = 3
+
+# @manager.struct('hh')
+# class Vector2D(comm.BinaryData):
+#     def __init__(self, x:int=0, y:int=0):
+#         super().__init__(x=x, y=y)
+#         self.x:int
+#         self.y:int
+
+# @manager.struct('BBBx')
+# class RGB(comm.BinaryData):
+#     def __init__(self, r:int=0,g:int=0,b:int=0):
+#         super().__init__(r=r,g=g,b=b)
+#         self.r:int
+#         self.g:int
+#         self.b:int
+        
+# @manager.struct('_B')
+# class RGBLed(comm.BinaryData):
+#     def __init__(self, rgb:RGB=RGB(), index:int=0,):
+#         super().__init__(rgb=rgb, index=index)
+#         self.index:int
+#         self.rgb:RGB
+        
+# @manager.struct('_HH')
+# class Report(comm.BinaryData):
+#     def __init__(self, pos:Vector2D=Vector2D(), statusCode:int=0, errorCode:int=0):
+#         super().__init__(pos=pos, statusCode=statusCode, errorCode=errorCode)
+#         self.pos:Vector2D
+#         self.statusCode:int
+#         self.errorCode:int
+
+# @manager.struct('ff')
+# class Bounds(comm.BinaryData):
+#     def __init__(self, lower:float=0, upper:float=0):
+#         super().__init__(lower=lower, upper=upper)
+#         self.lower:float
+#         self.upper:float
+    
+# @manager.command(Vector2D, comm.Bool_)
+# def setServoPosition(pos:Vector2D) -> comm.Bool_:
+#     pass
+
+# @manager.command(comm.Void, Vector2D)
+# def getServoPosition() -> Vector2D:
+#     pass
+
+# @manager.command(comm.Void, comm.Bool_)
+# def setServoPositionZero() -> comm.Bool_:
+#     pass
+
+# @manager.command(Vector2D, comm.Bool_)
+# def setServoSpeed(speed:Vector2D) -> comm.Bool_:
+#     pass
+
+# @manager.command(comm.Void, Vector2D)
+# def getServoSpeed() -> Vector2D:
+#     pass
+
+# @manager.command(comm.Void, comm.Short)
+# def getServoPositionX() -> comm.Short:
+#     pass
+
+# @manager.command(comm.Void, comm.Short)
+# def getServoPositionY() -> comm.Short:
+#     pass
+
+# @manager.command(comm.Void, comm.Short)
+# def getServoSpeedX() -> comm.Short:
+#     pass
+
+# @manager.command(comm.Void, comm.Short)
+# def getServoSpeedY() -> comm.Short:
+#     pass
+
+# @manager.command(comm.Byte, comm.Bool_)
+# def setServoXAcc(acc:comm.Byte) -> comm.Bool_:
+#     pass
+
+# @manager.command(comm.Byte, comm.Bool_)
+# def setServoYAcc(acc:comm.Byte) -> comm.Bool_:
+#     pass
+
+# @manager.command(comm.Void, comm.Byte)
+# def getServoXAcc() -> comm.Byte:
+#     pass
+
+# @manager.command(comm.Void, comm.Byte)
+# def getServoYAcc() -> comm.Byte:
+#     pass
+
+# @manager.command(comm.Bool_, comm.Bool_)
+# def setLEDFront(state:comm.Bool_) -> comm.Bool_:
+#     pass
+
+# @manager.command(comm.Bool_, comm.Bool_)
+# def setLEDBack(state:comm.Bool_) -> comm.Bool_:
+#     pass
+
+# @manager.command(comm.Bool_, comm.Bool_)
+# def setLEDStrobe(state:comm.Bool_) -> comm.Bool_:
+#     pass
+
+# @manager.command(comm.Void, comm.Bool_)
+# def getLEDFront() -> comm.Bool_:
+#     pass
+
+# @manager.command(comm.Void, comm.Bool_)
+# def getLEDBack() -> comm.Bool_:
+#     pass
+
+# @manager.command(comm.Void, comm.Bool_)
+# def getLEDStrobe() -> comm.Bool_:
+#     pass
+
+# @manager.command(comm.Void, Report)
+# def getReport() -> Report:
+#     pass
+
+# @manager.command(comm.Void, comm.UShort)
+# def getWinchMode() -> comm.UShort:
+#     pass
+
+# @manager.command(comm.UShort, comm.Bool_)
+# def setWinchMode(winchMode:comm.UShort):
+#     pass
+
+# @manager.command(comm.Void, comm.Bool_)
+# def getWinchLock() -> comm.Bool_:
+#     pass
+    
+# @manager.command(comm.Void, comm.Bool_)
+# def setWinchLock(lock:comm.Bool_):
+#     pass
+
+# @manager.command(comm.Void, comm.UShort)
+# def getServoControlMode() -> comm.UShort:
+#     pass
+
+# @manager.command(comm.UShort, comm.UShort)
+# def setServoControlMode(servoControlMode:comm.UShort) -> comm.Bool_:
+#     pass
+
+# @manager.command(comm.Void, comm.Bool_)
+# def getGPIO1() -> comm.Bool_:
+#     pass
+
+# @manager.command(comm.Bool_, comm.Bool_)
+# def setGPIO1(state:comm.Bool_) -> comm.Bool_:
+#     pass
+
+# @manager.command(comm.Void, comm.Bool_)
+# def getGPIO2() -> comm.Bool_:
+#     pass
+
+# @manager.command(comm.Bool_, comm.Bool_)
+# def setGPIO2(state:comm.Bool_) -> comm.Bool_:
+#     pass
+
+# @manager.command(comm.Void, comm.Bool_)
+# def getGPIO3() -> comm.Bool_:
+#     pass
+
+# @manager.command(comm.Bool_, comm.Bool_)
+# def setGPIO3(state:comm.Bool_) -> comm.Bool_:
+#     pass
+
+# @manager.command(comm.Int, RGB)
+# def getRGBLed(index:comm.Int) -> RGB:
+#     pass
+
+# @manager.command(RGBLed, comm.Bool_)
+# def setRGBLed(led:RGBLed) -> comm.Bool_:
+#     pass
 from enum import Enum, Flag
 from typing import NoReturn
 import capra_micro_comm_py as comm
@@ -8,29 +214,20 @@
 
 @manager.enum('H')
 class StatusCode(Enum):
-    STNotInitialized = 0
-    STInitialized = 1
+    STNone = 0
     
 @manager.enum('H')
 class ErrorCode(Enum):
-    ERNone =            0
-    ERAdapterNotInit =  1
-    ERServoXNACK =      2
-    ERServoYNACK =      3
-    ERWinchLocked =     4
+    ERNone =            0b00000000
+    ERAdapterNotInit =  0b00000001
+    ERServoXNACK =      0b00000010
+    ERServoYNACK =      0b00000100
 
-@manager.enum("H")
+@manager.enum("I")
 class ServoControlMode(Enum):
     SCMNone = 0
     SCMPosition = 1
     SCMSpeed = 2
-    
-@manager.enum("H")
-class WinchMode(Enum):
-    WMFreeWheel = 0
-    WMBrake = 1
-    WMReverse = 2
-    WMForward = 3
 
 @manager.struct('hh')
 class Vector2D(comm.BinaryData):
@@ -39,7 +236,7 @@ def __init__(self, x:int=0, y:int=0):
         self.x:int
         self.y:int
 
-@manager.struct('BBBx')
+@manager.struct('BBB')
 class RGB(comm.BinaryData):
     def __init__(self, r:int=0,g:int=0,b:int=0):
         super().__init__(r=r,g=g,b=b)
@@ -47,13 +244,6 @@ def __init__(self, r:int=0,g:int=0,b:int=0):
         self.g:int
         self.b:int
         
-@manager.struct('_B')
-class RGBLed(comm.BinaryData):
-    def __init__(self, rgb:RGB=RGB(), index:int=0,):
-        super().__init__(rgb=rgb, index=index)
-        self.index:int
-        self.rgb:RGB
-        
 @manager.struct('_HH')
 class Report(comm.BinaryData):
     def __init__(self, pos:Vector2D=Vector2D(), statusCode:int=0, errorCode:int=0):
@@ -149,58 +339,4 @@ def getLEDStrobe() -> comm.Bool_:
 def getReport() -> Report:
     pass
 
-@manager.command(comm.Void, comm.UShort)
-def getWinchMode() -> comm.UShort:
-    pass
-
-@manager.command(comm.UShort, comm.Bool_)
-def setWinchMode(winchMode:comm.UShort):
-    pass
-
-@manager.command(comm.Void, comm.Bool_)
-def getWinchLock() -> comm.Bool_:
-    pass
-    
-@manager.command(comm.Void, comm.Bool_)
-def setWinchLock(lock:comm.Bool_):
-    pass
-
-@manager.command(comm.Void, comm.UShort)
-def getServoControlMode() -> comm.UShort:
-    pass
-
-@manager.command(comm.UShort, comm.UShort)
-def setServoControlMode(servoControlMode:comm.UShort) -> comm.Bool_:
-    pass
-
-@manager.command(comm.Void, comm.Bool_)
-def getGPIO1() -> comm.Bool_:
-    pass
 
-@manager.command(comm.Bool_, comm.Bool_)
-def setGPIO1(state:comm.Bool_) -> comm.Bool_:
-    pass
-
-@manager.command(comm.Void, comm.Bool_)
-def getGPIO2() -> comm.Bool_:
-    pass
-
-@manager.command(comm.Bool_, comm.Bool_)
-def setGPIO2(state:comm.Bool_) -> comm.Bool_:
-    pass
-
-@manager.command(comm.Void, comm.Bool_)
-def getGPIO3() -> comm.Bool_:
-    pass
-
-@manager.command(comm.Bool_, comm.Bool_)
-def setGPIO3(state:comm.Bool_) -> comm.Bool_:
-    pass
-
-@manager.command(comm.Int, RGB)
-def getRGBLed(index:comm.Int) -> RGB:
-    pass
-
-@manager.command(RGBLed, comm.Bool_)
-def setRGBLed(led:RGBLed) -> comm.Bool_:
-    pass
diff --git a/src/rove_control_board/rove_control_board/control_board_bridge.py b/src/rove_control_board/rove_control_board/control_board_bridge.py
index e386c28..b4afaef 100644
--- a/src/rove_control_board/rove_control_board/control_board_bridge.py
+++ b/src/rove_control_board/rove_control_board/control_board_bridge.py
@@ -105,6 +105,9 @@ def toStep(valueDeg:float, stepCount:int, offsetDeg:float, minDeg:float, maxDeg:
 class Bridge(Node):
     def __init__(self):
         super().__init__('control_board_bridge', namespace='control_board_bridge')
+        from rove_control_board.api import manager
+        self.manager = manager
+        
         self.declare_parameters(
             namespace='',
             parameters=[
@@ -119,9 +122,9 @@ def __init__(self):
             ]
         )
         self._xStepCount = self.get_parameter_or('tpv_x_step_count', STEP_COUNT)
-        self._xMin = self.get_parameter_or('tpv_x_min', 0)
-        self._xMax = self.get_parameter_or('tpv_x_max', 360)
-        self._xOffset = self.get_parameter_or('tpv_x_offset', 0)
+        self._xMin = self.get_parameter_or('tpv_x_min', -180)
+        self._xMax = self.get_parameter_or('tpv_x_max', 180)
+        self._xOffset = self.get_parameter_or('tpv_x_offset', 180)
         
         
         self._yStepCount = self.get_parameter_or('tpv_y_step_count', STEP_COUNT)
@@ -141,7 +144,7 @@ def __init__(self):
         self.led_strobe = self.create_publisher(Bool, 'led_strobe', 0)
         self.led_strobe_set = self.create_subscription(Bool, 'led_strobe_set', self.setLEDStrobe, 3)
         self.heartbeat = self.create_timer(1/30, self.statusReport)
-        # self.create_timer(1/30, self.ping)
+        # self.create_timer(1/100, self.ping)
         
         # self.get_logger().set_level(rclpy.logging.LoggingSeverity.DEBUG)
         
@@ -158,6 +161,8 @@ def checkAPI(self):
         from rove_control_board.api import manager
         if (not manager.apiCheck()):
             self.get_logger().fatal("API hash mismatch between rove_control_board and control board microcontroller")
+            return False
+        return True
     
     def _xToDeg(self, step:int) -> float:
         return toDeg(step, self._xStepCount, self._xOffset, self._xMin, self._xMax)
@@ -254,6 +259,7 @@ def getLEDStrobe(self) -> Bool:
     @debugFunc
     def statusReport(self):
         r = api.getReport(comm.Void())
+        
         if r.errorCode != api.ErrorCode.ERNone.value:
             try:
                 self.get_logger().error(f"Got {api.ErrorCode(r.errorCode).name} from report.")
@@ -462,14 +468,18 @@ def main(args=None):
         # openSLCan(dev=None, prefix=DEV_ID_PREFIX)
         openSocket()
     
+    
     rclpy.init(args=args)
     
-    bridge = Bridge()
-    bridge.checkAPI()
-    rclpy.spin(bridge)
-
-    bridge.destroy_node()
-    rclpy.shutdown()
+    try:
+        while True:
+            bridge = Bridge()
+            if not bridge.checkAPI():
+                sleep(5)
+            rclpy.spin(bridge)
+            bridge.destroy_node()
+    finally:
+        rclpy.shutdown()
 
 if __name__ == '__main__':