diff --git a/anim.js b/anim.js
index a6cdc6f..aff0010 100644
--- a/anim.js
+++ b/anim.js
@@ -132,9 +132,9 @@ function modulirajParametre() {
     drotacijaZ += qWWd.z / 10;
   }
   if (keysPressed[0]) {
-    //width *= 1 + dqX;
+    width *= 1 + dqX;
     barva_mod += (dqZ / 100);
-    obj_limit *= 1 + (dqY / 3);
+    obj_limit *= 1 + (dqY);
   }
 }
 
@@ -252,106 +252,8 @@ window.addEventListener('keyup', (e) => {
   }
 })
 
-function eulerFromQuaternion( quaternion, order ) {
-    // Quaternion to matrix.
-    const w = quaternion[0], x = quaternion[1], y = quaternion[2], z = quaternion[3];
-    const x2 = x + x, y2 = y + y, z2 = z + z;
-    const xx = x * x2, xy = x * y2, xz = x * z2;
-    const yy = y * y2, yz = y * z2, zz = z * z2;
-    const wx = w * x2, wy = w * y2, wz = w * z2;
-    const matrix = [
-        1 - ( yy + zz ),
-        xy + wz,
-        xz - wy,
-        0,
-        xy - wz,
-        1 - ( xx + zz ),
-        yz + wx,
-        0,
-        xz + wy,
-        yz - wx,
-        1 - ( xx + yy ),
-        0,
-        0,
-        0,
-        0,
-        1
-    ];
-    // Matrix to euler
-    function clamp( value, min, max ) {
-        return Math.max( min, Math.min( max, value ) );
-    }
-    const m11 = matrix[ 0 ], m12 = matrix[ 4 ], m13 = matrix[ 8 ];
-    const m21 = matrix[ 1 ], m22 = matrix[ 5 ], m23 = matrix[ 9 ];
-    const m31 = matrix[ 2 ], m32 = matrix[ 6 ], m33 = matrix[ 10 ];
-    var euler = [ 0, 0, 0 ];
-    switch ( order ) {
-        case "XYZ":
-            euler[1] = Math.asin( clamp( m13, - 1, 1 ) );
-            if ( Math.abs( m13 ) < 0.9999999 ) {
-                euler[0] = Math.atan2( - m23, m33 );
-                euler[2] = Math.atan2( - m12, m11 );
-            } else {
-                euler[0] = Math.atan2( m32, m22 );
-                euler[2] = 0;
-            }
-            break;
-        case "YXZ":
-            euler[0] = Math.asin( - clamp( m23, - 1, 1 ) );
-            if ( Math.abs( m23 ) < 0.9999999 ) {
-                euler[1] = Math.atan2( m13, m33 );
-                euler[2] = Math.atan2( m21, m22 );
-            } else {
-                euler[1] = Math.atan2( - m31, m11 );
-                euler[2] = 0;
-            }
-            break;
-        case "ZXY":
-            euler[0] = Math.asin( clamp( m32, - 1, 1 ) );
-            if ( Math.abs( m32 ) < 0.9999999 ) {
-                euler[1] = Math.atan2( - m31, m33 );
-                euler[2] = Math.atan2( - m12, m22 );
-            } else {
-                euler[1] = 0;
-                euler[2] = Math.atan2( m21, m11 );
-            }
-            break;
-        case "ZYX":
-            euler[1] = Math.asin( - clamp( m31, - 1, 1 ) );
-            if ( Math.abs( m31 ) < 0.9999999 ) {
-                euler[0] = Math.atan2( m32, m33 );
-                euler[2] = Math.atan2( m21, m11 );
-            } else {
-                euler[0] = 0;
-                euler[2] = Math.atan2( - m12, m22 );
-            }
-            break;
-        case "YZX":
-            euler[2] = Math.asin( clamp( m21, - 1, 1 ) );
-            if ( Math.abs( m21 ) < 0.9999999 ) {
-                euler[0] = Math.atan2( - m23, m22 );
-                euler[1] = Math.atan2( - m31, m11 );
-            } else {
-                euler[0] = 0;
-                euler[1] = Math.atan2( m13, m33 );
-            }
-            break;
-        case "XZY":
-            euler[2] = Math.asin( - clamp( m12, - 1, 1 ) );
-            if ( Math.abs( m12 ) < 0.9999999 ) {
-                euler[0] = Math.atan2( m32, m22 );
-                euler[1] = Math.atan2( m13, m11 );
-            } else {
-                euler[0] = Math.atan2( - m23, m33 );
-                euler[1] = 0;
-            }
-            break;
-    }
-    return euler;
-}
-
 var oscCallbacks = {
-  '/keys/': [
+  '/keys': [
     function(args) {
       keysPressed = args.map(getVal);
       keysPressed[0] |= kbdPressed['a'];
@@ -361,26 +263,20 @@ var oscCallbacks = {
       //console.log(keysPressed, kbdPressed);
     }
   ],
-  '/quaternion/': [
+  '/quaternion': [
     function (args) {
       // Popravimo osi (w x y z po defaultu HMM)
       [qWW.w, qWW.z, qWW.x, qWW.y] =  args.map(getVal);
-      // Dve sta obratno (polozaj senzorja) :)
-      qWW.x *= -1;
-      qWW.z *= -1;
     }
   ],
-  '/quaternionDiff/': [
+  '/quaternionDiff': [
     function (args) {
-      [qWWd.w, qWWd.z, qWWd.x, qWWd.y] =  args.map(getVal);
-      // Dve sta obratno (polozaj senzorja) :)
-      qWWd.x *= -1;
-      qWWd.z *= -1;
-
-      var euler = eulerFromQuaternion([qWWd.w, qWWd.z, qWWd.x, qWWd.y], 'XYZ');
-      dqX = euler[0];
-      dqY = euler[1];
-      dqZ = euler[2];
+      [qWWd.w, qWWd.x, qWWd.y, qWWd.z] =  args.map(getVal);
+    }
+  ],
+  '/eulerDiff': [
+    function (args) {
+      [dqX, dqY, dqZ] =  args.map(getVal);
     }
   ],
   /* Ne uporabljamo vec
diff --git a/server.js b/server.js
index 6211b7f..678703e 100644
--- a/server.js
+++ b/server.js
@@ -137,12 +137,53 @@ scudp.on('error', (e) => {
 })
 scudp.open()
 
+function eulerFromQuaternion(quaternion) {
+    // Quaternion to matrix.
+    const w = quaternion[0], x = quaternion[1], y = quaternion[2], z = quaternion[3];
+    const x2 = x + x, y2 = y + y, z2 = z + z;
+    const xx = x * x2, xy = x * y2, xz = x * z2;
+    const yy = y * y2, yz = y * z2, zz = z * z2;
+    const wx = w * x2, wy = w * y2, wz = w * z2;
+    const matrix = [
+        1 - ( yy + zz ), xy + wz,         xz - wy,         0,
+        xy - wz,         1 - ( xx + zz ), yz + wx,         0,
+        xz + wy,         yz - wx,         1 - ( xx + yy ), 0,
+        0,               0,               0,               1
+    ];
+    // Matrix to euler
+    function clamp( value, min, max ) {
+        return Math.max( min, Math.min( max, value ) );
+    }
+    const m11 = matrix[ 0 ], m12 = matrix[ 4 ], m13 = matrix[ 8 ];
+    const m21 = matrix[ 1 ], m22 = matrix[ 5 ], m23 = matrix[ 9 ];
+    const m31 = matrix[ 2 ], m32 = matrix[ 6 ], m33 = matrix[ 10 ];
+    var euler = [ 0, 0, 0 ];
 
+    euler[1] = Math.asin( clamp( m13, - 1, 1 ) );
+    if ( Math.abs( m13 ) < 0.9999999 ) {
+        euler[0] = Math.atan2( - m23, m33 );
+        euler[2] = Math.atan2( - m12, m11 );
+    } else {
+        euler[0] = Math.atan2( m32, m22 );
+        euler[2] = 0;
+    }
+    return euler;
+}
 
 const sendAll = (msg, info, oscWS, osclients) => {
+
+  // Convert quaternion diff to euler angle diff
+  if (msg.address == '/quaternionDiff') {
+    const euler = eulerFromQuaternion(msg.args, 'XYZ');
+    sendAll({
+      address: '/eulerDiff',
+      args: euler
+    }, info, oscWS, osclients)
+  }
+
   osclients.forEach( client => {
     if (client && oscWS != client) {
-      //console.log("sending", msg, info)
+      // console.log("sending", msg, info)
       client.send(msg)
     }
   })
@@ -155,7 +196,7 @@ const sendAll = (msg, info, oscWS, osclients) => {
 const osclients = []
 
 wss.on('connection', function (ws) {
-  console.log('client connection', ws)
+  console.log('new client connection')
   const oscWS = new osc.WebSocketPort({
     socket: ws,
     metadata: false
diff --git a/test.js b/test.js
index fe36e9c..5911761 100644
--- a/test.js
+++ b/test.js
@@ -91,7 +91,6 @@ function objAnim() {
     obj.setRotationFromQuaternion(qObj);
 
     AX.scale.x = accX / 1000;
-    console.log(accX);
   });
 
   // Drzimo vse stiri gumbe (reset)? - kalibracija!
@@ -137,28 +136,23 @@ const getVal = function (msg) {
 }
 
 oscCallbacks = {
-  '/keys/': [
+  '/keys': [
     function(args) {
       keysPressed = args.map(getVal);
     }
   ],
-  '/quaternion/': [
+  '/quaternion': [
     function (args) {
       // Popravimo osi (w x y z po defaultu HMM)
-      [qWW.w, qWW.z, qWW.x, qWW.y] =  args.map(getVal);
-      // Dve sta obratno :)
-      // Ali pac? Vcasih da, drugic ne. Zanimivo.
-      qWW.x *= -1;
-      qWW.z *= -1;
+      [qWW.w, qWW.x, qWW.y, qWW.z] =  args.map(getVal);
     }
   ],
-  '/accel/': [
+  '/accel': [
     function (args) {
-      console.log('accel', args.map(getVal));
       [accX, accY, accZ] = args.map(getVal);
     }
   ],
-  '/gyro/': [
+  '/gyro': [
     function (args) {
       [rotacijaX, rotacijaY, rotacijaZ] = args.map(getVal);
     }