diff --git a/src/main.c b/src/main.c
index 14da7c1..d2413a5 100644
--- a/src/main.c
+++ b/src/main.c
@@ -152,9 +152,13 @@ void MotorMoveTo(uint8_t target) {
     }
 
     // The delay ratio controlls the PWM waveforms.
-    _delay_ms((double)on_delay);
+    for(uint8_t i = 0; i < on_delay; i++){
+        _delay_us(MOTOR_PULSE);
+    }
     MotorCoast();
-    _delay_ms((double)off_delay);
+    for(uint8_t i = 0; i < off_delay; i++){
+        _delay_us(MOTOR_PULSE);
+    }
   }
 
   return;