diff --git a/shittyrobot.py b/shittyrobot.py
index aa81c3a..07d2dc7 100644
--- a/shittyrobot.py
+++ b/shittyrobot.py
@@ -61,21 +61,28 @@ do_ap()
 s = setup_listener()
 c = []
 
+debug = False
+
 def controlloop(last_start, next_action):
     now = time.ticks_us()
+
+    if debug:
+        print('CTRL: ', last_start, next_action)
     
-    print('CTRL: ', last_start, next_action)
     if time.ticks_diff(now, time.ticks_add(last_start, 100000)) < 0:
-       print(' DEADTIME -> ignore')
-       return last_start
+        if debug:
+            print(' DEADTIME -> ignore')
+        return last_start
 
     if next_action is None and time.ticks_diff(time.ticks_add(last_start, 601000), now) > 0:
-       print(' ACTION TIMED OUT -> stopping')
-       next_action = (0,0)
+        if debug:
+            print(' ACTION TIMED OUT -> stopping')
+        next_action = (0,0)
     elif next_action is None:
-       return last_start
-    
-    print('Starting action: ', next_action)
+        return last_start
+
+    if debug:
+        print('Starting action: ', next_action)
     
     if next_action[0] == 1:
         MOTOR_A0.on()
@@ -134,7 +141,8 @@ def mainloop(l):
         a = None
         try:
             a = y.read(1)
-            print('RCV: ', a)
+            if debug:
+                print('RCV: ', a)
             y.write(a)
         except OSError:
             # timeout