Index: reprap/firmware/Arduino/Single_Arduino_SNAP/Single_Arduino_SNAP.pde
===================================================================
--- reprap/firmware/Arduino/Single_Arduino_SNAP/Single_Arduino_SNAP.pde	(revision 1642)
+++ reprap/firmware/Arduino/Single_Arduino_SNAP/Single_Arduino_SNAP.pde	(working copy)
@@ -42,9 +42,9 @@
 #define VALVE_ENABLE_PIN          16  //NB: Conflicts with Max Z!!!!
 
 // how many steps do our motors have?
-#define X_MOTOR_STEPS 400
-#define Y_MOTOR_STEPS 400
-#define Z_MOTOR_STEPS 400
+#define X_MOTOR_STEPS 200
+#define Y_MOTOR_STEPS 200
+#define Z_MOTOR_STEPS 200
 
 //our library includes.
 #include <HardwareSerial.h>
@@ -91,7 +91,7 @@
 
 		//route the command to the proper object.
 		if (dest == EXTRUDER_ADDRESS)
-			process_thermoplast_extruder_snap_commands_v1();
+  			process_thermoplast_extruder_snap_commands_v1();
 		else if(dest == X_ADDRESS || dest == Y_ADDRESS || dest == Z_ADDRESS)
 			process_cartesian_bot_snap_commands_v1();
 		
Index: reprap/firmware/Arduino/library/ThermoplastExtruder/ThermoplastExtruder.cpp
===================================================================
--- reprap/firmware/Arduino/library/ThermoplastExtruder/ThermoplastExtruder.cpp	(revision 1642)
+++ reprap/firmware/Arduino/library/ThermoplastExtruder/ThermoplastExtruder.cpp	(working copy)
@@ -111,16 +111,15 @@
 				(temptable[i][1] - temptable[i-1][1]) /
 				(temptable[i][0] - temptable[i-1][0]);
 			
-			if (celsius > 255)
-				celsius = 255; 
-
 			break;
 		}
 	}
 
-	// Overflow: We just clamp to 0 degrees celsius
-	if (i == NUMTEMPS)
-		celsius = 0;
+	// Overflow: Set to last value in the table
+	if (i == NUMTEMPS) celsius = temptable[i-1][1];
+        // Clamp to byte
+        if (celsius > 255) celsius = 255; 
+        else if (celsius < 0) celsius = 0; 
 		
 	return celsius;
 }
Index: reprap/firmware/Arduino/library/ThermoplastExtruder/ThermistorTable.h
===================================================================
--- reprap/firmware/Arduino/library/ThermoplastExtruder/ThermistorTable.h	(revision 1642)
+++ reprap/firmware/Arduino/library/ThermoplastExtruder/ThermistorTable.h	(working copy)
@@ -10,6 +10,7 @@
 // r2: 1600
 // beta: 3480
 // max adc: 315
+#if 0
 #define NUMTEMPS 20
 short temptable[NUMTEMPS][2] = {
    {1, 922},
@@ -33,5 +34,43 @@
    {289, 29},
    {305, -45}
 };
+#endif
 
+#define NUMTEMPS 32
+short temptable[NUMTEMPS][2] = {
+   {210, -10},
+   {224, 0},
+   {238, 10},
+   {252, 20},
+   {266, 30},
+   {281, 40},
+   {296, 50},
+   {310, 60},
+   {325, 70},
+   {339, 80},
+   {354, 90},
+   {368, 100},
+   {383, 110},
+   {397, 120},
+   {411, 130},
+   {425, 140},
+   {439, 150},
+   {452, 160},
+   {465, 170},
+   {478, 180},
+   {491, 190},
+   {503, 200},
+   {516, 210},
+   {528, 220},
+   {539, 230},
+   {551, 240},
+   {562, 250},
+   {573, 260},
+   {583, 270},
+   {593, 280},
+   {602, 290},
+   {610, 300},
+};
+
+
 #endif
Index: reprap/firmware/Arduino/library/ThermoplastExtruder_SNAP_v1/ThermoplastExtruder_SNAP_v1.cpp
===================================================================
--- reprap/firmware/Arduino/library/ThermoplastExtruder_SNAP_v1/ThermoplastExtruder_SNAP_v1.cpp	(revision 1642)
+++ reprap/firmware/Arduino/library/ThermoplastExtruder_SNAP_v1/ThermoplastExtruder_SNAP_v1.cpp	(working copy)
@@ -100,8 +100,10 @@
 			//extruder.heater_high = snap.getByte(2);
 			extruder.heater_low = 64;
 			extruder.heater_high = 255;
-			extruder.target_celsius = calculateTemperatureForPicTemp(snap.getByte(3));
-			extruder.max_celsius = calculateTemperatureForPicTemp(snap.getByte(4));
+			extruder.target_celsius = snap.getByte(3);
+			extruder.max_celsius = snap.getByte(4);
+// 			extruder.target_celsius = calculateTemperatureForPicTemp(snap.getByte(3));
+// 			extruder.max_celsius = calculateTemperatureForPicTemp(snap.getByte(4));
 		break;
 
 		// tell the host software how hot we are.
Index: reprap/host/src/org/reprap/devices/GenericExtruder.java
===================================================================
--- reprap/host/src/org/reprap/devices/GenericExtruder.java	(revision 1642)
+++ reprap/host/src/org/reprap/devices/GenericExtruder.java	(working copy)
@@ -727,7 +727,8 @@
 		if (temperature == 0)
 			setHeater(0, 0, lock);
 		else {
-			setHeater(power0, power1, t0, t1, lock);
+//			setHeater(power0, power1, t0, t1, lock);
+            setHeater(power0, power1, (byte)(temperature), (byte)(temperature*1.06), lock);
 		}
 	}
 	
@@ -1069,7 +1070,8 @@
 			
 			double resistance = calculateResistance(rawHeat, calibration);
 			
-			currentTemperature = calculateTemperature(resistance);
+//			currentTemperature = calculateTemperature(resistance);
+            currentTemperature = rawHeat;
 			Debug.d(material + " extruder current temp " + currentTemperature);
 			
 			lastTemperatureUpdate = System.currentTimeMillis();
@@ -1206,7 +1208,8 @@
 		    byte [] reply = getPayload();
 		    if (reply == null || reply.length != 3)
 		    		throw new InvalidPayloadException();
-		    return reply[1] < 0 ? reply[1] + 256 : reply[1];
+//		    return reply[1] < 0 ? reply[1] + 256 : reply[1];
+          return reply[2] < 0 ? reply[2] + 256 : reply[2];
 		}
 
 		/**