diff --git a/Readme.md b/Readme.md
index 71a57fe..c372336 100644
--- a/Readme.md
+++ b/Readme.md
@@ -185,7 +185,8 @@ export EPICS_CA_ADDR_LIST="129.129.109.255"
 export EPICS_CA_ADDR_LIST="129.129.126.255"
 caQtDm -macro 'P=SAR-ESB_MX' ESB_MX_exp
 
-
+HelicalScan
+-----------
 
 PPMAC=MOTTEST-CPPM-CRM0485
 ssh root@$PPMAC sendgetsends -1
diff --git a/python/helicalscan.py b/python/helicalscan.py
index b063010..80f8b03 100755
--- a/python/helicalscan.py
+++ b/python/helicalscan.py
@@ -149,11 +149,11 @@ class HelicalScan:
   def test_coord_trf(self):
       self.calcParam()
       param = self.param
-      dx, dz, w, y,  = (0.2,0.3,0.1,4.3)
+      dx, dz, w, y,  = (0.2,0.3,0.1,3.3)
       print 'input  : dx:%.3g dz:%.3g w:%.3g fy:%.3g' % (dx,dz,w/d2r,y)
       (cx,cz,w,fy) = self.inv_transform(dx,dz,w,y)
       print 'inv_trf: cx:%.3g cz:%.3g w:%.3g fy:%.3g' % (cx,cz,w/d2r,fy)
-      (dx, dz,w,y) = self.fwd_transform(cx,cz,w,fy)
+      (dx,dz,w,y) = self.fwd_transform(cx,cz,w,fy)
       print 'fwd_trf: dx:%.3g dz:%.3g w:%.3g fy:%.3g' % (dx,dz,w/d2r,y)
 
       # plt.ion()
@@ -483,29 +483,29 @@ open forward
   //coord    X        Z       B       Y
   define(p0_x='L10', p0_y='L11', p0_z='L12')
   define(p1_x='L13', p1_y='L14', p1_z='L15')
-  define(f='L16')
-  
-  send 1"forward kinematic\\n"''')
+  define(scale='L16')
+  send 1"forward kinematic %f %f %f %f\\n",qCX,qCZ,qW,qFY''')
     for i in range(2):
       #https://stackoverflow.com/questions/3471999/how-do-i-merge-two-lists-into-a-single-list
       l=[j for i in zip((i,) * param.shape[1], list(param[i])) for j in i]
       prg.append("  define(z_%i=%g, y_%i=%g, x_%i=%g, r_%i=%g, phi_%i=%g)"%tuple(l))
     prg.append('''
-  p0_x=x_0+r_0*sin(phi_0+W)
-  p1_x=x_1+r_1*sin(phi_1+W)
+  p0_x=x_0+r_0*sin(phi_0+qW)
+  p1_x=x_1+r_1*sin(phi_1+qW)
   p0_y=y_0
   p1_y=y_1
-  p0_z=z_0+r_0*cos(phi_0+W)
-  p1_z=z_1+r_1*cos(phi_0+W)
+  p0_z=z_0+r_0*cos(phi_0+qW)
+  p1_z=z_1+r_1*cos(phi_1+qW)
 
-  f=(qFY-y_0)/(y_1-y_0)
-  p0_x=p0_x+f*(p1_x-p0_x)
-  p0_y=p0_y+f*(p1_y-p0_y)
-  p0_z=p0_z+f*(p1_z-p0_z)
+  scale=(qFY-y_0)/(y_1-y_0)
+  p0_x=p0_x+scale*(p1_x-p0_x)
+  p0_y=p0_y+scale*(p1_y-p0_y)
+  p0_z=p0_z+scale*(p1_z-p0_z)
   DX=qCX-p0_x
   DZ=qCZ-p0_z
   Y=qFY
   W=qW
+  send 1"forward result    %f %f %f %f\\n",DX,DZ,W,Y
 
   D0=$000001c2; //B=$2 X=$40 Y=$80 Z=$100 hex(2+int('40',16)+int('80',16)+int('100',16)) -> 0x1c2
 close
@@ -519,9 +519,8 @@ open inverse
   define(qCX='L7', qCZ='L8', qW='L1', qFY='L2')
   define(p0_x='L10', p0_y='L11', p0_z='L12')
   define(p1_x='L13', p1_y='L14', p1_z='L15')
-  define(f='L16')
-  
-  send 1"inverse kinematic\\n"''')
+  define(scale='L16')
+  send 1"inverse kinematic %f %f %f %f\\n",DX,DZ,W,Y''')
     for i in range(2):
       # https://stackoverflow.com/questions/3471999/how-do-i-merge-two-lists-into-a-single-list
       l = [j for i in zip((i,) * param.shape[1], list(param[i])) for j in i]
@@ -532,16 +531,17 @@ open inverse
   p0_y=y_0
   p1_y=y_1
   p0_z=z_0+r_0*cos(phi_0+W)
-  p1_z=z_1+r_1*cos(phi_0+W)
+  p1_z=z_1+r_1*cos(phi_1+W)
 
-  f=(qFY-y_0)/(y_1-y_0)
-  p0_x=p0_x+f*(p1_x-p0_x)
-  p0_y=p0_y+f*(p1_y-p0_y)
-  p0_z=p0_z+f*(p1_z-p0_z)
+  scale=(qFY-y_0)/(y_1-y_0)
+  p0_x=p0_x+scale*(p1_x-p0_x)
+  p0_y=p0_y+scale*(p1_y-p0_y)
+  p0_z=p0_z+scale*(p1_z-p0_z)
   qCX=DX+p0_x
   qCZ=DZ+p0_z
   qFY=Y
   qW=W
+  send 1"inverse result    %f %f %f %f\\n",qCX,qCZ,qW,qFY
 
 close
 ''')
@@ -747,10 +747,11 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
     hs=HelicalScan(args)
     #hs.sequencer()
     hs.args.verbose=255;hs.calcParam();hs.gen_coord_trf_code('/tmp/helicalscan.cfg','MOTTEST-CPPM-CRM0485')
-    #return
+    hs.test_coord_trf()
+
+    return
     hs.test_find_rot_ctr()
     hs.test_find_rot_ctr(n=5. ,per=1.,bias=2.31,ampl=4.12,phi=24.6)
-    hs.test_coord_trf()
     hs.interactive_cx_cz_w_fy()
     hs.interactive_dx_dz_w_y()