diff --git a/pus_tc/devs/reaction_wheels.py b/pus_tc/devs/reaction_wheels.py
index 970f964..f127830 100644
--- a/pus_tc/devs/reaction_wheels.py
+++ b/pus_tc/devs/reaction_wheels.py
@@ -196,20 +196,36 @@ def pack_rw_ass_cmds(tc_queue: TcQueueT, object_id: bytes, op_code: str):
 
 
 def pack_set_speed_command(
-    object_id: bytes, speed: int, ramp_time: int, ssc: int
+    object_id: bytes, speed: int, ramp_time_ms: int, ssc: int
 ) -> PusTelecommand:
     """With this function a command is packed to set the speed of a reaction wheel
     :param object_id: The object id of the reaction wheel handler.
     :param speed: Valid speeds are [-65000, -1000] and [1000, 65000]. Values are
         specified in 0.1 * RPM
-    :param ramp_time: The time after which the reaction wheel will reach the commanded speed.
+    :param ramp_time_ms: The time after which the reaction wheel will reach the commanded speed.
         Valid times are 10 - 10000 ms
     :param ssc: Source sequence count
     """
+    if speed > 0:
+        if speed < 1000 or speed > 65000:
+            raise ValueError(
+                "Invalid RW speed specified. "
+                "Allowed range is [1000, 65000] 0.1 * RPM"
+            )
+    else:
+        if speed < -65000 or speed > -1000:
+            raise ValueError(
+                "Invalid RW speed specified. "
+                "Allowed range is [-65000, -1000] 0.1 * RPM"
+            )
+    if ramp_time_ms < 0 or (
+        ramp_time_ms > 0 and (ramp_time_ms > 10000 or ramp_time_ms < 10)
+    ):
+        raise ValueError("Invalid Ramp Speed time. Allowed range is [10-10000] ms")
     command_id = RwCommandIds.SET_SPEED
     command = bytearray()
     command += object_id + command_id
     command = command + struct.pack("!i", speed)
-    command = command + ramp_time.to_bytes(length=2, byteorder="big")
+    command = command + ramp_time_ms.to_bytes(length=2, byteorder="big")
     command = PusTelecommand(service=8, subservice=128, ssc=ssc, app_data=command)
     return command
diff --git a/pus_tc/system/proc.py b/pus_tc/system/proc.py
index 7ad725b..79e1e24 100644
--- a/pus_tc/system/proc.py
+++ b/pus_tc/system/proc.py
@@ -10,16 +10,6 @@ from tmtccmd.config import (
 from tmtccmd.tc.definitions import TcQueueT
 from tmtccmd.tc.pus_3_fsfw_hk import *
 
-"""
-from config.object_ids import (
-    BPX_HANDLER_ID,
-    P60_DOCK_HANDLER,
-    PDU_1_HANDLER_ID,
-    PDU_2_HANDLER_ID,
-    ACU_HANDLER_ID,
-    CORE_CONTROLLER_ID,
-)
-"""
 import config.object_ids as oids
 from pus_tc.devs.bpx_batt import BpxSetIds
 from pus_tc.system.core import SetIds as CoreSetIds
@@ -149,13 +139,10 @@ def pack_generic_hk_listening_cmds(
 
     elif one_rw is True:
         activate_all_rws_in_sequence(
-            tc_queue=tc_queue,
+            tc_queue=tc_queue, test_speed=20000, test_ramp_time=10000, init_ssc=0
         )
-
     elif two_rws is True:
-        activate_all_rws_two_consecutively(
-            tc_queue=tc_queue,
-        )
+        activate_all_rws_two_consecutively(tc_queue=tc_queue, init_ssc=0)
 
     else:
         pass
@@ -223,7 +210,7 @@ def pack_proc_commands(tc_queue: TcQueueT, op_code: str):
 
     if op_code in OpCodes.RAD_SEN_FT:
         key = KAI.RAD_SEN_FT[0]
-        sid_list.append(make_sid(oids.RAD_SENSOR_ID, RadSetIds.RAD_SEN_CORE))
+        sid_list.append(make_sid(oids.RAD_SENSOR_ID, RadSetIds.HK))
         pack_generic_hk_listening_cmds(
             tc_queue=tc_queue,
             proc_key=key,
@@ -658,13 +645,13 @@ def rw_speed_cmd_single(
     tc_queue: TcQueueT, oid: bytes, init_ssc: int, speed: int, ramp_time: int
 ) -> int:
     command = pack_set_speed_command(
-        object_id=oid, speed=speed, ramp_time=ramp_time, ssc=init_ssc
+        object_id=oid, speed=speed, ramp_time_ms=ramp_time, ssc=init_ssc
     )
     init_ssc += 1
     tc_queue.appendleft(command.pack_command_tuple())
     tc_queue.appendleft((QueueCommands.WAIT, 70.0))
     command = pack_set_speed_command(
-        object_id=oids.RW1_ID, speed=0, ramp_time=ramp_time, ssc=init_ssc
+        object_id=oids.RW1_ID, speed=0, ramp_time_ms=ramp_time, ssc=init_ssc
     )
     tc_queue.appendleft(command.pack_command_tuple())
     return init_ssc + 1
@@ -675,7 +662,7 @@ def rw_speed_up_cmd_consec(
 ) -> int:
     for oid in obids:
         command = pack_set_speed_command(
-            object_id=oid, speed=speed, ramp_time=ramp_time, ssc=init_ssc
+            object_id=oid, speed=speed, ramp_time_ms=ramp_time, ssc=init_ssc
         )
         tc_queue.appendleft(command.pack_command_tuple())
         init_ssc += 1
@@ -687,7 +674,7 @@ def rw_speed_down_cmd_consec(
 ) -> int:
     for oid in obids:
         command = pack_set_speed_command(
-            object_id=oid, speed=0, ramp_time=ramp_time, ssc=init_ssc
+            object_id=oid, speed=0, ramp_time_ms=ramp_time, ssc=init_ssc
         )
         tc_queue.appendleft(command.pack_command_tuple())
         init_ssc += 1