diff --git a/mendel/mendel.c b/mendel/mendel.c
index 7397f64..8116b3d 100644
--- a/mendel/mendel.c
+++ b/mendel/mendel.c
@@ -1,5 +1,5 @@
 #include	<stddef.h>
-#include	<stdio.h>
+// #include	<stdio.h>
 #include	<stdint.h>
 
 #include	<avr/io.h>
@@ -7,47 +7,140 @@
 
 #include	"serial.h"
 
-int serial_putc_fdev(char c, FILE *stream)
-{
-	serial_writechar((uint8_t) c);
-	return 0;
+/*
+	machine variables
+*/
+#define	AXIS_COUNT 5
+
+//														steps per rev * mm per tooth * teeth per rev
+#define	STEPS_PER_MM					(3200 * 4.77 * 16)
+
+#define	MAX_MM_PER_SEC				40
+#define	MAX_IMMED_MM_PER_SEC	20
+#define	ACCEL									10
+
+
+/*
+	state machine variables
+*/
+
+uint8_t linebuffer[64];
+
+uint8_t state = 0;
+#define STATE_WAIT_FOR_COMMAND				0
+#define STATE_WAIT_FOR_COMMAND_DIGIT	1
+#define STATE_WAIT_FOR_DATA						2
+#define	STATE_WAIT_FOR_DATA_DIGIT			3
+uint8_t command;
+uint8_t command_digit;
+uint8_t axis;
+
+// volatile uint32_t xpos = 0;
+// volatile uint32_t ypos = 0;
+// volatile uint32_t zpos = 0;
+// volatile uint32_t edelta = 0;
+//
+// uint32_t xtarget = 0;
+// uint32_t ytarget = 0;
+// uint32_t ztarget = 0;
+//
+// uint16_t xspeed = 0;
+// uint16_t yspeed = 0;
+// uint16_t zspeed = 0;
+
+struct axis {
+	volatile uint32_t	pos;
+	int32_t						target;
+	uint32_t					newtarget_mantissa;
+	uint8_t						newtarget_exp;
+	uint8_t						newtarget_sign;
+	uint16_t					speed;
+} axes[AXIS_COUNT];
+
+uint8_t axis_char_to_id(uint8_t c) {
+	if (c >= 'X')
+		return c - 'X';
+	if (c == 'E')
+		return 3;
+	if (c == 'T')
+		return 4;
+	return 255;
 }
 
-int serial_getc_fdev(FILE *stream)
-{
-	for (;serial_rxchars() == 0;);
-	return (int) serial_popchar();
-}
-
-static FILE serio = FDEV_SETUP_STREAM(serial_putc_fdev, serial_getc_fdev, _FDEV_SETUP_RW);
-
-volatile uint32_t xpos;
-volatile uint32_t ypos;
-volatile uint32_t zpos;
-volatile uint32_t edelta;
-
-uint32_t xtarget;
-uint32_t ytarget;
-uint32_t ztarget;
-
-uint16_t xspeed;
-uint16_t yspeed;
-uint16_t zspeed;
-
 int main (void)
 {
 	// set up STDIN/OUT/ERR
-	stdin = &serio;
-	stdout = &serio;
-	stderr = &serio;
+// 	stdin = &serio;
+// 	stdout = &serio;
+// 	stderr = &serio;
 
 	// set up serial
 	serial_init();
 
+	// enable interrupts
 	sei();
 
 	for (;;)
 	{
-
+		for (;serial_rxchars() == 0;);
+		uint8_t c = serial_popchar();
+		if (c >= 'a' && c <= 'z')
+			c &= ~32;
+		// preprocess
+		switch (state) {
+			case STATE_WAIT_FOR_COMMAND_DIGIT:
+				if (c == 'G' || c == 'M')
+					state = STATE_WAIT_FOR_COMMAND;
+				break;
+			case STATE_WAIT_FOR_DATA_DIGIT:
+				if (axis_char_to_id(c) < 255)
+					state = STATE_WAIT_FOR_DATA;
+				break;
+		}
+		// actuate
+		switch (state) {
+			case STATE_WAIT_FOR_COMMAND:
+				if (c == 'G' || c == 'M') {
+					command = c;
+					command_digit = 0;
+					state = STATE_WAIT_FOR_COMMAND_DIGIT;
+				}
+				break;
+			case STATE_WAIT_FOR_COMMAND_DIGIT:
+				if (c >= '0' && c <= '9') {
+					command_digit = (command_digit * 10) + (c - '0');
+				}
+				else {
+					state = STATE_WAIT_FOR_DATA;
+				}
+				break;
+			case STATE_WAIT_FOR_DATA:
+				if (axis_char_to_id(c) < 255) {
+					axis = axis_char_to_id(c);
+					axes[axis].newtarget_mantissa = 0;
+					axes[axis].newtarget_exp = 0;
+					state = STATE_WAIT_FOR_DATA_DIGIT;
+				}
+				break;
+			case STATE_WAIT_FOR_DATA_DIGIT:
+				if (c == '-') {
+					axes[axis].newtarget_sign = 1;
+				}
+				if (c >= '0' && c <= '9') {
+					axes[axis].newtarget_mantissa = (axes[axis].newtarget_mantissa * 10) + (c - '0');
+					if (axes[axis].newtarget_exp)
+						axes[axis].newtarget_exp++;
+				}
+				if (c == '.') {
+					axes[axis].newtarget_exp = 1;
+				}
+				break;
+		}
+		if (c == 13) {
+			uint8_t i;
+			for (i = 0; i < AXIS_COUNT; i++) {
+				uint32_t n = axes[i].newtarget_mantissa;
+			}
+		}
 	}
 }