diff --git a/master/master/lib/slavesensors.c b/master/master/lib/slavesensors.c
--- a/master/master/lib/slavesensors.c
+++ b/master/master/lib/slavesensors.c
@@ -124,7 +124,7 @@ void slavesensors_network_scan()
 		while(1) 
 		{
 			// Wait for scan to complete. If we timeout, return.
-			if(waitTimeout()) 
+			if(waitTimeout(7000)) 
 			{
 				return;
 			}
@@ -312,9 +312,8 @@ void slavesensors_exitAT()
 	// Exit AT
 	serial0_sendString("ATCN");
 	serial0_sendChar(0x0D);
-	_delay_ms(2);
 
-	if(waitTimeout()) 
+	if(waitTimeout(2000)) 
 	{
 		return;
 	}
@@ -322,12 +321,12 @@ void slavesensors_exitAT()
 	xbeeIsOk();
 }
 
-bool waitTimeout() {
+bool waitTimeout(uint32_t timeout) {
 	uint32_t scanStart = time_millis();
 	uint32_t lastBlink = 0;
 	while(!serial0_hasChar())
 	{
-		if(time_millis() - scanStart > 7000)
+		if(time_millis() - scanStart > timeout)
 		{
 			led_errorcode(ERROR_XBEETIMEOUT);
 			return true;
@@ -355,7 +354,6 @@ int slavesensors_enterAT()
 	serial0_sendChar('+'); // Enter AT mode
 	serial0_sendChar('+');
 	serial0_sendChar('+');
-	_delay_ms(2);
 
 	return xbeeIsOk();
 }
diff --git a/master/master/lib/slavesensors.h b/master/master/lib/slavesensors.h
--- a/master/master/lib/slavesensors.h
+++ b/master/master/lib/slavesensors.h
@@ -30,7 +30,7 @@ enum sensorTypes // CMD ID#
 	CAMERA,
 };
 
-bool waitTimeout();
+bool waitTimeout(uint32_t timeout);
 char* slavesensors_getLabel(uint8_t sensorID);
 char* slavesensors_slavename(uint8_t id);
 bool slavesensors_dataReady();