diff --git a/software/testing/modbus/mining/mining_tester.py b/software/testing/modbus/mining/mining_tester.py
index 7b38ccc..56f40ee 100644
--- a/software/testing/modbus/mining/mining_tester.py
+++ b/software/testing/modbus/mining/mining_tester.py
@@ -28,44 +28,26 @@ DEFAULT_PAN_TILT_CONTROL_TOPIC = "chassis/pan_tilt/control"
 
 PAN_TILT_NODE_ID = 1
 
-COMMUNICATIONS_TIMEOUT = 0.01  # Seconds
+COMMUNICATIONS_TIMEOUT = 0.15
+# Seconds
 
 RX_DELAY = 0.01
 TX_DELAY = 0.01
 
 DEFAULT_HERTZ = 20
 
-PAN_TILT_MODBUS_REGISTERS = {
-    "CENTER_ALL": 0,
+MINING_MODBUS_REGISTERS = {
+    "LIFT_SET": 0,
+    "TILT_SET": 1,
+    "TARE": 2,
+    "CAL_FACTOR": 3,
 
-    "PAN_ADJUST_POSITIVE": 1,
-    "PAN_ADJUST_NEGATIVE": 2,
-    "TILT_ADJUST_POSITIVE": 3,
-    "TILT_ADJUST_NEGATIVE": 4
+    "LIFT_POSITION": 4,
+    "TILT_POSITION": 5,
+    "MEASURED_WEIGHT": 6
 }
 
-PAN_TILT_CONTROL_DEFAULT_MESSAGE = [
-    0,  # No centering
-    0,  # No pan positive adjustment
-    0,  # No pan negative adjustment
-    0,  # No tilt positive adjustment
-    0  # No tilt negative adjustement
-]
-
-self.mining_node.serial = serial.rs485.RS485(self.port, baudrate=self.baud, timeout=COMMUNICATIONS_TIMEOUT)
-self.mining_node.serial.rs485_mode = serial.rs485.RS485Settings(rts_level_for_rx=1, rts_level_for_tx=0,
-                                                                delay_before_rx=RX_DELAY,
-                                                                delay_before_tx=TX_DELAY)
-
-
-def run(self):
-    print(self.mining_node.read_registers(0, 7))
-
-
-def connect_to_pan_tilt_and_tower(self):
-    self.mining_node = minimalmodbus.Instrument(self.port, int(2))
-    self.__setup_minimalmodbus_for_485()
-
+POSITIONAL_THRESHOLD = 20
 
 NODE_LAST_SEEN_TIMEOUT = 2  # seconds
 
@@ -75,7 +57,7 @@ NODE_LAST_SEEN_TIMEOUT = 2  # seconds
 #####################################
 class MiningControl(object):
     def __init__(self):
-        self.port = "COM22"
+        self.port = "/dev/ttyUSB0"
         self.baud = 115200
 
         self.mining_node = None
@@ -88,8 +70,61 @@ class MiningControl(object):
 
         self.modbus_nodes_seen_time = time()
 
+        self.mining_registers = [
+            0,
+            0,
+            0,
+            0,
+            0,
+            0,
+            0
+        ]
+
         self.run()
 
     def __setup_minimalmodbus_for_485(self):
+        self.mining_node.serial = serial.rs485.RS485(self.port, baudrate=self.baud, timeout=COMMUNICATIONS_TIMEOUT)
+        self.mining_node.serial.rs485_mode = serial.rs485.RS485Settings(rts_level_for_rx=1, rts_level_for_tx=0,
+                                                                        delay_before_rx=RX_DELAY,
+                                                                        delay_before_tx=TX_DELAY)
+
+    def run(self):
+        self.initialize_mining_system()
+        while True:
+            try:
+                print self.mining_node.read_registers(0, 7)
+                # self.mining_registers[MINING_MODBUS_REGISTERS["CAL_FACTOR"]] = int(input("Enter new cal value:"))
+                # self.mining_node.write_registers(0, self.mining_registers)
+
+            except Exception, e:
+                print e
+
+    def connect_to_pan_tilt_and_tower(self):
+        self.mining_node = minimalmodbus.Instrument(self.port, int(2))
+        self.__setup_minimalmodbus_for_485()
+
+    def initialize_mining_system(self):
+        self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_SET"]] = 1023
+        self.mining_registers[MINING_MODBUS_REGISTERS["TILT_SET"]] = 350
+        self.mining_registers[MINING_MODBUS_REGISTERS["CAL_FACTOR"]] = 114
+
+        lift_current = 0
+        tilt_current = 0
+
+        while abs(self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_POSITION"]] - self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_SET"]]) > POSITIONAL_THRESHOLD or abs(self.mining_registers[MINING_MODBUS_REGISTERS["TILT_POSITION"]] - self.mining_registers[MINING_MODBUS_REGISTERS["TILT_SET"]]) > POSITIONAL_THRESHOLD:
+            try:
+                self.mining_node.write_registers(0, self.mining_registers)
+                self.mining_registers = self.mining_node.read_registers(0, 7)
+            except Exception, e:
+                print "Had trouble communicating:", e
+
+        try:
+            self.mining_registers[MINING_MODBUS_REGISTERS["TARE"]] = 1
+            self.mining_node.write_registers(0, self.mining_registers)
+            self.mining_registers[MINING_MODBUS_REGISTERS["TARE"]] = 0
+        except:
+            print "Had trouble communicating: no tare: ", e
+
+
 if __name__ == "__main__":
     MiningControl()