diff --git a/robot/Makefile b/robot/Makefile
index 1ba9a59..2d6766c 100644
--- a/robot/Makefile
+++ b/robot/Makefile
@@ -13,7 +13,6 @@ TARGET = main
 SRC = $(wildcard $(SRC_DIR)/*.c)
 OBJ = $(SRC:$(SRC_DIR)/%.c=$(OBJ_DIR)/%.o)
 LST = $(SRC:$(SRC_DIR)/%.c=$(BUILD_DIR)/%.lst)
-OPT = s
 
 # Name of this Makefile (used for "make depend").
 MAKEFILE = Makefile
@@ -21,7 +20,7 @@ MAKEFILE = Makefile
 # Debugging format.
 # Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
 # AVR (extended) COFF requires stabs, plus an avr-objcopy run.
-DEBUG = stabs
+DEBUG_FORMAT = stabs
 
 # Compiler flag to set the C Standard level.
 # c89   - "ANSI" C
@@ -36,15 +35,14 @@ CDEFS = -DF_CPU=16000000L -D__AVR__ -D__AVR_ATmega328P__
 # Place -I options here
 CINCS = -I $(INC_DIR)
 
-CDEBUG = -g$(DEBUG)
 CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
 #CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
-CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CSTANDARD) $(CEXTRA)
+CFLAGS = $(CDEFS) $(CINCS) $(CSTANDARD) $(CEXTRA)
 
 #ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
 
 ifeq ($(BUILD),debug)
-	CFLAGS += -DDEBUG
+	CFLAGS += -DDEBUG -g$(DEBUG_FORMAT)
 	CFLAGS += -Wall -Wextra -Wformat=2 -Wswitch-default \
 			  -Wcast-align -Wpointer-arith -Wbad-function-cast \
 			  -Wstrict-prototypes -Winline -Wundef -Wnested-externs \
@@ -55,8 +53,11 @@ ifeq ($(BUILD),debug)
 			  -Wno-unused-but-set-variable -Wmaybe-uninitialized
 	CINCS += -I/usr/include/simavr
 	#
+else
+	CFLAGS += -DNDEBUG -s -Os
 endif
 
+
 #Additional libraries.
 
 # Minimalistic printf version
@@ -90,7 +91,7 @@ MATH_LIB = -lm
 EXTMEMOPTS =
 
 #LDMAP = $(LDFLAGS) -Wl,-Map=$(TARGET).map,--cref
-LDFLAGS = $(EXTMEMOPTS) $(LDMAP) $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
+# LDFLAGS = $(EXTMEMOPTS) $(LDMAP) $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
 
 # Programming support using avrdude. Settings and variables.
 
@@ -177,7 +178,7 @@ extcoff: $(BUILD_DIR)/$(TARGET).elf
 	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
 
 %.eep: %.elf
-	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
+	$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
 		--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
 
 # Create extended listing file from ELF output file.
@@ -207,15 +208,4 @@ $(OBJ_DIR)/%.o : $(SRC_DIR)/%.c
 clean:
 	$(REMOVE) $(BUILD_DIR)/* $(OBJ_DIR)/*
 
-depend:
-	if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \
-		then \
-		sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \
-		$(MAKEFILE).$$$$ && \
-		$(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \
-		fi
-	echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \
-		>> $(MAKEFILE); \
-		$(CC) -M -mmcu=$(MCU) $(CDEFS) $(CINCS) $(SRC) >> $(MAKEFILE)
-
 .PHONY:	all build elf hex eep lss sym program coff extcoff clean depend