diff --git a/robot_controller/constants.h b/robot_controller/constants.h
index 6a5970d..1b01356 100644
--- a/robot_controller/constants.h
+++ b/robot_controller/constants.h
@@ -1,11 +1,11 @@
 #pragma once
 
 const float ACCEL_LIMIT = 5.0; // cm/s/s
-const float VEL_LIMIT = 10.0; // cm/s
+const float VEL_LIMIT = 16.0; // cm/s
 const float BACKLASH_RIGHT = 0.0; // degrees
 const float BACKLASH_LEFT = 0.0; // degrees
-const float WHEEL_DIAMETER = 9.25; // cm
-const float WHEEL_TO_WHEEL = 10.0; // cm
+const float WHEEL_DIAMETER = 10.25; // cm
+const float WHEEL_TO_WHEEL = 9.0; // cm
 
 // centimeters per second to rpm
 const float CMS_RPM = 60.0 / (PI*WHEEL_DIAMETER);
@@ -13,9 +13,9 @@ const float CMS_RPM = 60.0 / (PI*WHEEL_DIAMETER);
 // degrees to centimeters
 const float DEG_CM = (PI*WHEEL_DIAMETER) / 360.0;
 
-const float FORWARD_DISTANCE = 100.0; // cm
+const float FORWARD_DISTANCE = 10.0; // cm
 const float TURN_AMOUNT = 180.0; // degrees
-const float TURN_DISTANCE = (TURN_AMOUNT / 360.0) * WHEEL_TO_WHEEL * PI * 0.5;
+const float TURN_DISTANCE = (TURN_AMOUNT / 360.0) * WHEEL_TO_WHEEL * PI;
 const float RETURN_DISTANCE = 100.0; // cm
 
 const float FF_ACCEL = 0.7; // motor acceleration feedforward
diff --git a/robot_controller/robot_controller.ino b/robot_controller/robot_controller.ino
index c40ff6c..19e4061 100644
--- a/robot_controller/robot_controller.ino
+++ b/robot_controller/robot_controller.ino
@@ -68,11 +68,10 @@ void loop() {
       setpoint = trapezoidal_planner(&forward, time);
       break;
     case TURN:
-      setpoint = trapezoidal_planner(&forward, time);
+      setpoint = trapezoidal_planner(&turn, time);
       break;
   }
 
-
   float turnsig = (robot_state == TURN ? 1.0 : -1.0); // direction of travel for right motor
 
   // position PI controller