diff --git a/config.py b/config.py
index 03f93ee..6d43578 100644
--- a/config.py
+++ b/config.py
@@ -105,7 +105,7 @@ R_MAX = 0.75
 THETA_MIN= -TABLE_ARC/2
 THETA_MAX = TABLE_ARC/2
 Z_MIN = TABLE_Z + 0.5*BLOCK_DIM
-Z_MAX = TABLE_Z + 4.5*BLOCK_DIM #4 blocks high
+Z_MAX = TABLE_Z + 2*BLOCK_DIM
 
 
 
@@ -123,19 +123,7 @@ Z_MAX = TABLE_Z + 4.5*BLOCK_DIM #4 blocks high
 # RB:5
 # Back:6
 # Start:7
-BUTTON_MAP = {
-	4: (0, 0, -1),
-	5: (0, 0, 1)
-}
-# Hat switch:0 (All or nothing for direction). returns (+-1, +-1) = (+-x. +-y)
-# hx, hy = hat
-HATCODE = 0 #set to -1 to avoid polling hat
-HX = 10
-HY = 11
-HAT_MAP = {
-	HX: (0, 1, 0),
-	HY: (-1, 0, 0) #inverted
-}
+#
 # Axes (Not supported)
 # Joystick left, x-axis:0
 # Joystick left, y-axis:1
@@ -143,7 +131,30 @@ HAT_MAP = {
 # Joystick right, x-axis:4
 # Left trigger:2
 # Right trigger:5
+#
+# Hat switch:0 (All or nothing for direction). returns (+-1, +-1) = (+-x. +-y)
+# hx, hy = hat
 
+HATCODE = -1 #set to -1 to avoid polling hat
+HX = 10
+HY = 11
+HAT_MAP = {
+	HX: (0,1,0),
+	HY: (-1,0,0) #inverted
+}
+
+#BUTTON_MAP = {
+#	4: (0,0,-1),
+#	5: (0,0,1)
+#}
+BUTTON_MAP = { #Buttons only (no hat)
+	0: (1,0,0),
+	3: (-1,0,0),
+	1: (0,1,0),
+	2: (0,-1,0),
+	4: (0,0,-1),
+	5: (0,0,1)
+}
 
 
 # AUTO/LOOP CONTROL
diff --git a/config.py.bak b/config.py.bak
index 3559b0f..5325db7 100644
--- a/config.py.bak
+++ b/config.py.bak
@@ -1,5 +1,5 @@
-# This config file is the one tested and tuned during development.
-# Revert to this to reset parameters.
+# This is a backup of a working demo configuration.
+# Reset parameters by reverting to this.
 import math
 
 DEBUG = True
@@ -88,6 +88,9 @@ T_FORCE_VIOLATION = 0.3
 # Note that the angular velocity is also [m/s], not [rad/s], to ensure that the robot
 # moves with constant speed regardless of direction in the polar plane.
 # IMPORTANT: VEL_Z should be tuned to Z_MIN to avoid smashing into the table.
+#
+# T_DIR_CHANGE_COOLDOWN is a cooldown between change of commands. With this, the robot
+# have a chance to decelerate before changing direction, which smooths out motion.
 VEL = 0.1 #[m/s]
 VEL_Z = 0.05 #[m/s]
 ACC = 0.5 #[m/s^2]
@@ -104,10 +107,58 @@ R_MAX = 0.75
 THETA_MIN= -TABLE_ARC/2
 THETA_MAX = TABLE_ARC/2
 Z_MIN = TABLE_Z + 0.5*BLOCK_DIM
-Z_MAX = TABLE_Z + 4.5*BLOCK_DIM #4 blocks high
+Z_MAX = TABLE_Z + 2*BLOCK_DIM
 
 
 
+# GAMEPAD MAP
+#
+# For the Microsoft xBox 360 controller. Button/axes codes are listed
+# below for reference.
+#
+# Buttons
+# A:0
+# B:1
+# X:2
+# Y:3
+# LB:4
+# RB:5
+# Back:6
+# Start:7
+#
+# Axes (Not supported)
+# Joystick left, x-axis:0
+# Joystick left, y-axis:1
+# Joystick right, x-axis:3
+# Joystick right, x-axis:4
+# Left trigger:2
+# Right trigger:5
+#
+# Hat switch:0 (All or nothing for direction). returns (+-1, +-1) = (+-x. +-y)
+# hx, hy = hat
+
+HATCODE = -1 #set to -1 to avoid polling hat
+HX = 10
+HY = 11
+HAT_MAP = {
+	HX: (0,1,0),
+	HY: (-1,0,0) #inverted
+}
+
+#BUTTON_MAP = {
+#	4: (0,0,-1),
+#	5: (0,0,1)
+#}
+BUTTON_MAP = { #Buttons only (no hat)
+	0: (1,0,0),
+	3: (-1,0,0),
+	1: (0,1,0),
+	2: (0,-1,0),
+	4: (0,0,-1),
+	5: (0,0,1)
+}
+
+
 # AUTO/LOOP CONTROL
 #
 # When looping, the robot use the same velocity for r, theta and z.
diff --git a/config.pyc b/config.pyc
index 311f253..4ccbc39 100644
Binary files a/config.pyc and b/config.pyc differ
diff --git a/ur5controller.py b/ur5controller.py
index 56cda5e..ece511b 100644
--- a/ur5controller.py
+++ b/ur5controller.py
@@ -292,7 +292,7 @@ class DemoController(object):
 		v = [pose1[i]-pose0[i] for i in range(len(pose0))]
 		if self.debug:
 			_sum = sum(map(abs, v))
-			print "Velocity vector, dt=%.2f: %s. SUM %.3f" % (dt, str([('%.2f' % i) for i in v]), _sum)
+			print "dt = %.2f, v = ds/dt = %s, |v| = %.3f" % (dt, str([('%.2f' % i) for i in v]), _sum)
 		return sum(map(abs, v)) > threshold
 
 
diff --git a/ur5controller.pyc b/ur5controller.pyc
index 7a34ed5..fb30325 100644
Binary files a/ur5controller.pyc and b/ur5controller.pyc differ