diff --git a/robot_controller/constants.h b/robot_controller/constants.h
index 5d760dc..88ec2cd 100644
--- a/robot_controller/constants.h
+++ b/robot_controller/constants.h
@@ -1,7 +1,7 @@
 #pragma once
 
 const float ACCEL_LIMIT = 5.0; // cm/s/s
-const float VEL_LIMIT = 15.0; // cm/s
+const float VEL_LIMIT = 10.0; // cm/s
 const float BACKLASH_RIGHT = 0.0; // degrees
 const float BACKLASH_LEFT = 0.0; // degrees
 const float WHEEL_DIAMETER = 10.00; // cm
diff --git a/robot_controller/robot_controller.ino b/robot_controller/robot_controller.ino
index 546b051..e2340da 100644
--- a/robot_controller/robot_controller.ino
+++ b/robot_controller/robot_controller.ino
@@ -30,7 +30,9 @@ void write_rpm_ff(SmartMotor* motor, int32_t rpm, float ff) {
   if (rpm == 0) {rpm = 1;};
   float kV = ff / (float) rpm; // calculate velocity feedforward that causes desired absolute feedforward
   motor->tune_vel_pid(kV, KP,KI,KD);
+  delay(1);
   motor->write_rpm(rpm);
+  delay(1);
 }
 
 void setup() {
@@ -47,14 +49,6 @@ void setup() {
     delay(10);
     //right_motor.set_direction(PIDDirection::DIRECT);
     
-    delay(1000);
-
-    // READ MOTOR POSITION
-    int32_t pos = left_motor.read_angle();
-    Serial.print("Pos: ");
-    Serial.print(pos);
-    Serial.println(" deg");
-
     phase_start = (float)millis() / 1000.0;
     robot_state = FORWARD;
 }
@@ -76,17 +70,20 @@ void loop() {
     setpoint.velocity * CMS_RPM * FF_VEL + 
     ((setpoint.velocity > 0.0) ? FF_STAT : -FF_STAT);
 
+  float feedforward_right = 
+    setpoint.acceleration * CMS_RPM * 9.0 + 
+    setpoint.velocity * CMS_RPM * FF_VEL + 
+    ((setpoint.velocity > 0.0) ? FF_STAT : -FF_STAT);
+
   write_rpm_ff(&left_motor, setpoint.velocity * CMS_RPM, feedforward);
-  delay(1);
-  //write_rpm_ff(&right_motor, (robot_state == TURN ? velocity : -velocity) * CMS_RPM, feedforward);
-  delay(19);
+  write_rpm_ff(&right_motor, (robot_state == TURN ? setpoint.velocity : -setpoint.velocity) * CMS_RPM, feedforward);
 
   // READ MOTOR POSITION
-  int32_t rpm = left_motor.read_rpm();
-  int32_t pos = left_motor.read_angle();
+  int32_t rpm = -right_motor.read_rpm();
+  int32_t pos = -right_motor.read_angle();
   int32_t error = setpoint.velocity * CMS_RPM - rpm;
   Serial.print("ff:");
-  Serial.print(feedforward);
+  Serial.print(feedforward_right);
   Serial.print(",time:");
   Serial.print(time);
   Serial.print(",distgoal:");