diff --git a/32g431.ioc b/32g431.ioc
index 0eaf9ef..7b83866 100644
--- a/32g431.ioc
+++ b/32g431.ioc
@@ -21,10 +21,16 @@ Dma.USART1_TX.0.SyncEnable=DISABLE
 Dma.USART1_TX.0.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
 Dma.USART1_TX.0.SyncRequestNumber=1
 Dma.USART1_TX.0.SyncSignalID=NONE
-FDCAN1.CalculateBaudRateNominal=2083333
-FDCAN1.CalculateTimeBitNominal=480
-FDCAN1.CalculateTimeQuantumNominal=160.0
-FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal
+FDCAN1.CalculateBaudRateNominal=500000
+FDCAN1.CalculateTimeBitNominal=2000
+FDCAN1.CalculateTimeQuantumNominal=100.0
+FDCAN1.DataTimeSeg1=1
+FDCAN1.DataTimeSeg2=1
+FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,Mode,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,DataTimeSeg1,DataTimeSeg2
+FDCAN1.Mode=FDCAN_MODE_NORMAL
+FDCAN1.NominalPrescaler=10
+FDCAN1.NominalTimeSeg1=15
+FDCAN1.NominalTimeSeg2=4
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
diff --git a/CMakePresets.json b/CMakePresets.json
index b782d73..201a630 100644
--- a/CMakePresets.json
+++ b/CMakePresets.json
@@ -31,6 +31,7 @@
         "BUILD_BSPMCU": "ON",
         "BUILD_SPOOLEND": "ON",
         "MEM_POOL_TOTAL_SIZE": "8*1024",
+        "CONFIG_CAN_NEW_VERSION": "1",
         "USE_UART": true,
         "USE_PRINT": true,
         "PRINT_ID": "1",
diff --git a/Core/Src/fdcan.c b/Core/Src/fdcan.c
index 1c1823c..bbd543f 100644
--- a/Core/Src/fdcan.c
+++ b/Core/Src/fdcan.c
@@ -44,10 +44,10 @@ void MX_FDCAN1_Init(void)
   hfdcan1.Init.AutoRetransmission = DISABLE;
   hfdcan1.Init.TransmitPause = DISABLE;
   hfdcan1.Init.ProtocolException = DISABLE;
-  hfdcan1.Init.NominalPrescaler = 16;
+  hfdcan1.Init.NominalPrescaler = 10;
   hfdcan1.Init.NominalSyncJumpWidth = 1;
-  hfdcan1.Init.NominalTimeSeg1 = 1;
-  hfdcan1.Init.NominalTimeSeg2 = 1;
+  hfdcan1.Init.NominalTimeSeg1 = 15;
+  hfdcan1.Init.NominalTimeSeg2 = 4;
   hfdcan1.Init.DataPrescaler = 1;
   hfdcan1.Init.DataSyncJumpWidth = 1;
   hfdcan1.Init.DataTimeSeg1 = 1;
diff --git a/robot b/robot
index 25ecd88..cb9e296 160000
--- a/robot
+++ b/robot
@@ -1 +1 @@
-Subproject commit 25ecd887967077edda62cdbf46c9b63eff5cf17a
+Subproject commit cb9e2962ff29da185602fa9baaaaae02bffc17d9