diff --git a/apc_perf.py b/apc_perf.py
index 6520cb1..f26210b 100644
--- a/apc_perf.py
+++ b/apc_perf.py
@@ -1,11 +1,13 @@
 from dataclasses import dataclass
 from functools import cache, cached_property
+import math
 import re
 from typing import Collection, Mapping, Self, Sequence
 
-from utils import lin_fun_interpolate, with_ops_scalar, with_ops_unary, with_ops_vector
+from utils import inrange, lin_fun_interpolate, with_ops_scalar, with_ops_unary, with_ops_vector
 
 MPH = 0.44704
+RPM = 2 * math.pi / 60
 
 @with_ops_unary('neg')
 @with_ops_vector('sub', 'add')
@@ -17,6 +19,10 @@ class PropOppoint:
     torque: float
     rpm: float
 
+    @cached_property
+    def rot_speed(self) -> float:
+        return self.rpm * RPM
+
     def __neg__(self) -> Self: ...
 
     def __truediv__(self, other: float) -> Self: ...
@@ -30,8 +36,19 @@ class ApcPerfdata:
     oppoints: Collection[PropOppoint]
 
     @cached_property
-    def rpms(self) -> Collection[float]:
-        return { op.rpm for op in self.oppoints }
+    def rpms(self) -> Sequence[float]:
+        return sorted({ op.rpm for op in self.oppoints })
+
+    def speed_range_at_rpm(self, rpm: float) -> tuple[float, float]:
+        speeds = [op.speed for op in self.rpm_series[rpm]]
+        return min(speeds), max(speeds)
+
+    def rpms_at_speed(self, speed: float):
+        return [rpm for rpm in self.rpms if inrange(speed, *self.speed_range_at_rpm(rpm))]
+
+    def rpm_range_at_speed(self, speed: float) -> tuple[float, float]:
+        rpms = self.rpms_at_speed(speed)
+        return min(rpms), max(rpms)
 
     def _rpm_serie(self, rpm: float) -> Sequence[PropOppoint]:
         return sorted([op for op in self.oppoints if op.rpm == rpm], key=lambda op: op.speed)
@@ -46,6 +63,12 @@ class ApcPerfdata:
             return lambda: op
         return lin_fun_interpolate([op.speed for op in s], [mk_op(op) for op in s], speed)
 
+    def get_op_interp(self, rpm: float, speed: float) -> PropOppoint:
+        loc_rpms = self.rpms_at_speed(speed)
+        def mk_op(_rpm):
+            return lambda: self.get_op_interpspeed(_rpm, speed)
+        return lin_fun_interpolate(loc_rpms, [mk_op(_rpm) for _rpm in loc_rpms], rpm)
+
 
     @classmethod
     def from_file(cls, path: str):
@@ -72,8 +95,8 @@ def parse_apc_data(raw_data: str) -> Collection[PropOppoint]:
             continue
 
         speed = vals[0] * MPH
-        thrust = vals[9]
-        torque = vals[10]
+        torque = vals[9]
+        thrust = vals[10]
         data_points.append(PropOppoint(speed, thrust, torque, current_rpm))
 
     return data_points
diff --git a/mot.py b/mot.py
new file mode 100644
index 0000000..4159b20
--- /dev/null
+++ b/mot.py
@@ -0,0 +1,84 @@
+from dataclasses import dataclass
+from functools import cached_property
+import math
+from scipy import optimize
+
+from apc_perf import RPM, ApcPerfdata
+
+VOLT_DUTY_MAX = 0.97
+
+@dataclass(frozen=True)
+class MotorOppoint:
+    voltage: float
+    current: float
+    rpm: float
+    torque: float
+
+    @cached_property
+    def rot_speed(self) -> float:
+        return self.rpm * RPM
+    
+    @property
+    def power_in(self) -> float:
+        return self.voltage * self.current
+
+    @property
+    def power_out(self) -> float:
+        return self.torque * self.rot_speed
+    
+    @property
+    def efficiency(self) -> float:
+        return self.power_out/self.power_in
+
+@dataclass(frozen=True)
+class MotorData:
+    mot_kv: float
+    mot_ir: float
+    mot_idle_i: float
+
+    @cached_property
+    def mot_kv_si(self) -> float:
+        return self.mot_kv * RPM
+
+    @property
+    def effective_ir(self) -> float:
+        return self.mot_ir*1.5
+        return self.mot_ir
+
+    def mot_full_pizda(self, rpm: float, voltage: float) -> MotorOppoint:
+        rotspd = rpm * RPM
+        voltage = VOLT_DUTY_MAX * voltage
+        u_active = (rotspd / self.mot_kv_si)
+        u_heat = voltage - u_active
+        current = u_heat / self.effective_ir
+        torq = (current-self.mot_idle_i) / self.mot_kv_si
+
+        return MotorOppoint(
+                voltage = voltage,
+                current = current,
+                rpm = rpm,
+                torque = torq,
+                )
+
+
+
+def op_full_pizda(mot: MotorData, prop: ApcPerfdata, speed: float, volt: float):
+
+    def f(rpm):
+        return prop.get_op_interp(rpm, speed).torque - mot.mot_full_pizda(rpm, volt).torque
+
+    opt = optimize.root_scalar(f, bracket = prop.rpm_range_at_speed(speed))
+    # print(opt)
+
+    rpm = opt.root
+
+    p_op = prop.get_op_interp(rpm, speed)
+    m_op = mot.mot_full_pizda(rpm, volt)
+    # print(p_op)
+    # print(m_op)
+
+    return p_op, m_op
+
+
+
+
diff --git a/test1.py b/test1.py
new file mode 100644
index 0000000..8f95d4d
--- /dev/null
+++ b/test1.py
@@ -0,0 +1,37 @@
+from apc_perf import ApcPerfdata
+from mot import MotorData, op_full_pizda
+
+
+at2826_900 = MotorData(
+            mot_kv = 900,
+            mot_ir = 0.035,
+            mot_idle_i =2.5
+        )
+
+at2826_1100 = MotorData(
+            mot_kv = 900,
+            mot_ir = 0.11,
+            mot_idle_i = 2.5
+        )
+
+rcf = MotorData(
+            mot_kv = 1100,
+            mot_ir = 0.02,
+            mot_idle_i = 5
+        )
+m_at100c = MotorData(
+        mot_kv = 90,
+        mot_ir = 0.02,
+        mot_idle_i=4,
+        )
+
+prop_12x6 = ApcPerfdata.from_file('data/PERFILES2/PER3_12x6E.dat')
+
+# Tutaj symulacja
+op_prop, op_mot = op_full_pizda(mot= at2826_900,
+              prop= prop_12x6,
+              speed= 10,
+              volt= 14.6)
+
+print(op_prop)
+print(op_mot)
diff --git a/utils.py b/utils.py
index 446c12c..c593ad2 100644
--- a/utils.py
+++ b/utils.py
@@ -7,16 +7,22 @@ class Interpolable(Protocol):
     def __mul__(self: Self, other: float, /) -> Self: ...
     def __neg__(self: Self, /) -> Self: ...
 
+def inrange(x: float, xmin: float, xmax: float) -> bool:
+    return  xmin <= x <= xmax
+
 EXTRAPOLATE_NONE = 0
 EXTRAPOLATE_CONST = 1
 EXTRAPOLATE_LIN = 2
 
+class InterpolationRangeError(ValueError):
+    pass
+
 T1 = TypeVar('T1', bound=Interpolable)
 def lin_fun_interpolate(x_values: Sequence[float], y_values: Sequence[Callable[[], T1]], x: float, extr_down = EXTRAPOLATE_NONE, extr_up = EXTRAPOLATE_NONE) -> T1:
     # x0,x1,y0,y1 = None
     if x < x_values[0]:
         if extr_down == EXTRAPOLATE_NONE:
-            raise ValueError("x is outside the interpolation range!")
+            raise InterpolationRangeError("x is outside the interpolation range!")
         elif extr_down == EXTRAPOLATE_CONST:
             return y_values[0]()
         elif extr_down == EXTRAPOLATE_LIN:
@@ -28,11 +34,11 @@ def lin_fun_interpolate(x_values: Sequence[float], y_values: Sequence[Callable[[
         x0, x1 = x_values[i-1], x_values[i]
         y0, y1 = y_values[i-1](), y_values[i]()
 
-        if x_values[i] > x:
+        if x_values[i] >= x:
             break
     else:
         if extr_up == EXTRAPOLATE_NONE:
-            raise ValueError("x is outside the interpolation range!")
+            raise InterpolationRangeError("x is outside the interpolation range!")
         elif extr_up == EXTRAPOLATE_CONST:
             return y1
         elif extr_up == EXTRAPOLATE_LIN: