Revert "added accel"

This reverts commit 8f37181770a3d5cda9ec1280802cc243c538f619.
Revert "Revert "added accel""

This reverts commit d3368ad575329981ffc8245e979e4a51e35a7079.
Revert "removed unused parameters"

This reverts commit 6bdd022d7956599ab2d7c483b17cb32e2a674a2c.
modded tests to fit accel feature