diff --git a/software/firmware_module/module_rev0/src/main.c b/software/firmware_module/module_rev0/src/main.c
index 7ebf512..3c0aa8d 100644
--- a/software/firmware_module/module_rev0/src/main.c
+++ b/software/firmware_module/module_rev0/src/main.c
@@ -173,7 +173,7 @@ int main()
 {
     initialSetup();
     rs485_init();
-    mctrl_init();
+    mctrl_init(calib_offset);
 
     while (1 == 1)
     {
diff --git a/software/firmware_module/module_rev0/src/mctrl.c b/software/firmware_module/module_rev0/src/mctrl.c
index e4749c3..972ccd9 100644
--- a/software/firmware_module/module_rev0/src/mctrl.c
+++ b/software/firmware_module/module_rev0/src/mctrl.c
@@ -46,9 +46,15 @@ uint16_t currentVoltage = 0;      // current ADC reading
 uint8_t currentFaultReadings = 0; // ticks with faulty readings (too many will
                                   // trip pwrdwn and sts_flag_fuse)
 
+int STEPS_OFFSET = 0;
 // initialize motor controller
-void mctrl_init()
+void mctrl_init(int cal_offset)
 {
+    if (cal_offset < 800){
+        STEPS_OFFSET = STEPS_OFFSET_DEF;
+    }else{
+        STEPS_OFFSET = cal_offset;
+    }
     DDRC = 0x0F;  // set all pins as outputs
     PORTC = 0x00; // set all to LOW
 
diff --git a/software/firmware_module/module_rev0/src/mctrl.h b/software/firmware_module/module_rev0/src/mctrl.h
index 03fc63d..07124d8 100644
--- a/software/firmware_module/module_rev0/src/mctrl.h
+++ b/software/firmware_module/module_rev0/src/mctrl.h
@@ -15,7 +15,7 @@
 #define STEPS_PER_REV 2025  // steps per revolution
 #define STEPS_PER_FLAP 45   // steps per flap
 #define STEPS_ADJ 0         // added per flap to compensate for motor power down
-#define STEPS_OFFSET 1400   // ansolute offset between home and first flap
+#define STEPS_OFFSET_DEF 1400   // ansolute offset between home and first flap
 #define AMOUNTFLAPS 45      // amount of flaps installed in system
 #define STEPS_AFTERROT 255  // value to goto after current target flap is reached
 #define ERROR_DATASETS 8    // length of error array
@@ -33,7 +33,7 @@
 #ifdef __cplusplus
 extern "C" {
 #endif // __cplusplus
-void mctrl_init();
+void mctrl_init(int cal_offset);
 void mctrl_step();
 void mctrl_set(uint8_t flap, uint8_t fullRotation);