diff --git a/can/common.cc b/can/common.cc
index 408975e..2dc7db0 100644
--- a/can/common.cc
+++ b/can/common.cc
@@ -91,7 +91,7 @@ void init_crc_lookup_tables() {
   // At init time, set up static lookup tables for fast CRC computation.
 
   gen_crc_lookup_table(0x2F, crc8_lut_8h2f);    // CRC-8 8H2F/AUTOSAR for Volkswagen
-  gen_crc_lookup_table(0xD5, crc8_lut_d5);      // CRC-8 for pedal
+  gen_crc_lookup_table(0x1D, crc8_lut_1d);      // CRC-8 SAE-j18650  for Retropilot
 }
 
 unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
@@ -198,8 +198,10 @@ unsigned int ocelot_checksum(uint64_t d, int l) {
   // CRC the payload, skipping over the first byte where the CRC lives.
   for (int i = 1; i < l; i++) {
     crc ^= (d >> (i*8)) & 0xFF;
-    crc = crc8_lut_d5[crc];
+    crc = crc8_lut_1d[crc];
   }
+  crc = crc ^ 0xFF; //final xor
+
   return crc;
 }
 
diff --git a/ocelot_can.dbc b/ocelot_can.dbc
index 8e8ad96..0bbf24e 100644
--- a/ocelot_can.dbc
+++ b/ocelot_can.dbc
@@ -33,7 +33,7 @@ NS_ :
 
 BS_:
 
-BU_: EPAS HIM PED EON IBST SAS EPAS TOYOTASAS
+BU_: EPAS HIM EON IBST SAS EPAS TOYOTASAS
 
 VAL_TABLE_ BRAKEMODE 3 "Reserved" 2 "Position Control" 1 "Relative Control" 0 "Disengadged" ;
 VAL_TABLE_ STATUS 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
@@ -70,20 +70,6 @@ BO_ 526 BRAKE_COMMAND: 5 EON
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" IBST
  SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" IBST
 
-BO_ 512 GAS_COMMAND: 8 EON
- SG_ GAS_COMMAND : 8|16@1+ (0.159375,-75.555) [0|1] ""  PED
- SG_ GAS_COMMAND2 : 24|16@1+ (0.159375,-151.111) [0|1] ""  PED
- SG_ ENABLE : 47|1@1+ (1,0) [0|1] ""  PED
- SG_ COUNTER : 40|4@1+ (1,0) [0|15] ""  PED
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] ""  PED
-
-BO_ 513 GAS_SENSOR: 8 PED
- SG_ PED_GAS : 8|16@1+ (0.159375,-75.555) [0|1] ""  EON
- SG_ PED_GAS2 : 24|16@1+ (0.159375,-151.111) [0|1] ""  EON
- SG_ STATE : 44|4@1+ (1,0) [0|15] ""  EON
- SG_ COUNTER : 40|4@1+ (1,0) [0|15] ""  EON
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] ""  EON
-
 BO_ 870 CURRENT_STATE: 4 EON
  SG_ ENABLED : 8|1@1+ (1,0) [0|0] ""  HIM
  SG_ SET_SPEED : 16|8@1+ (1,0) [0|255] "mph"  HIM
diff --git a/ocelot_smart_roadster_pt.dbc b/ocelot_smart_roadster_pt.dbc
index 610b2da..42c1c87 100644
--- a/ocelot_smart_roadster_pt.dbc
+++ b/ocelot_smart_roadster_pt.dbc
@@ -1,7 +1,7 @@
 VERSION ""
 
 
-NS_ : 
+NS_ :
 	NS_DESC_
 	CM_
 	BA_DEF_
@@ -33,7 +33,7 @@ NS_ :
 
 BS_:
 
-BU_: EON SMART
+BU_: EON SMART PED
 VAL_TABLE_ BRAKEMODE 3 "Reserved" 2 "Position Control" 1 "Relative Control" 0 "Disengadged" ;
 VAL_TABLE_ STATUS 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
 VAL_TABLE_ STEERINGMODE 3 "Reserved" 2 "Position Control" 1 "Torque Control" 0 "Disengadged" ;
@@ -57,10 +57,10 @@ BO_ 568 SMART_ROADSTER_MESSAGE3: 8 SMART
 BO_ 528 SMART_ROADSTER_MESSAGE2: 8 SMART
 
 BO_ 128 SMARTROADSTERWHEELSPEEDS: 8 SMART
- SG_ WHEELSPEED_RR : 55|16@0+ (1,0) [0|65535] "" EON
- SG_ WHEELSPEED_RL : 39|16@0+ (1,0) [0|65535] "" EON
- SG_ WHEELSPEED_FR : 23|16@0+ (1,0) [0|65535] "mph" EON
- SG_ WHEELSPEED_FL : 7|16@0+ (1,0) [0|65535] "mph" EON
+ SG_ WHEELSPEED_RL : 55|16@0+ (0.034,0) [0|65535] "mph" EON
+ SG_ WHEELSPEED_RR : 39|16@0+ (0.034,0) [0|65535] "mph" EON
+ SG_ WHEELSPEED_FL : 23|16@0+ (0.034,0) [0|65535] "mph" EON
+ SG_ WHEELSPEED_FR : 7|16@0+ (0.034,0) [0|65535] "mph" EON
 
 BO_ 194 SMARTSTEERINGANGLESENSOR: 8 SMART
  SG_ SMART_STEER_RATE_SIGN : 31|1@1+ (1,0) [0|0] "" EON
@@ -71,6 +71,20 @@ BO_ 194 SMARTSTEERINGANGLESENSOR: 8 SMART
 BO_ 784 SMARTTHROTTLEPEDAL: 8 SMART
  SG_ THROTTLE_POSITION : 32|16@1+ (0.00156143,0) [0|0] "%" EON
 
+BO_ 512 GAS_COMMAND: 8 EON
+ SG_ GAS_COMMAND : 8|16@1+ (0.358,-121) [0|1] ""  PED
+ SG_ GAS_COMMAND2 : 24|16@1+ (0.236,-242) [0|1] ""  PED
+ SG_ ENABLE : 47|1@1+ (1,0) [0|1] ""  PED
+ SG_ COUNTER : 40|4@1+ (1,0) [0|15] ""  PED
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] ""  PED
+
+BO_ 513 GAS_SENSOR: 8 PED
+ SG_ PED_GAS : 8|16@1+ (0.358,-121) [0|1] ""  EON
+ SG_ PED_GAS2 : 24|16@1+ (0.236,-242) [0|1] ""  EON
+ SG_ STATE : 44|4@1+ (1,0) [0|15] ""  EON
+ SG_ COUNTER : 40|4@1+ (1,0) [0|15] ""  EON
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] ""  EON
+
 BO_ 544 BODYCONTROL: 8 SMART
  SG_ RIGHT_DOOR : 0|1@1+ (1,0) [0|0] "" EON
  SG_ LEFT_DOOR : 7|1@1+ (1,0) [0|0] "" EON
@@ -86,9 +100,8 @@ BO_ 144 ABS: 8 SMART
 BO_ 400 GEARBOX: 8 SMART
  SG_ GEARPOSITION : 0|8@1+ (1,0) [0|0] "" EON
 
-BO_ 520 WHEELSPEEDS: 8 SMART
- SG_ WHEELSPEED_FR : 40|7@1- (1,0) [0|0] "mph" EON
- SG_ WHEELSPEED_FL : 48|7@1- (1,0) [0|0] "mph" EON
+BO_ 520 SMART_ROADSTER_MESSAGE1: 8 SMART
+
 
 
 CM_ SG_ 741 CHECKSUM "CRC8_J1650 SAE Checksum";