I took me the whole day of wondering and debugging to see that I was checking if a variable was 0, to set up some stuff, and the variable was only incremented after that check, but I had a return statement inside of it. So it just went in, saw that it was 0 and returned, over and over. And I was wondering why the fuck nothing happened... because that method got executed every second or so and should've moved the motor.
Gotta love your hardware programming. Either you do it right the very first time, or you spend the whole day staring at a piece of code, compiling, throwing in console prints etc.

Its 1 am, where I live btw.