diff --git a/robot_controller/constants.h b/robot_controller/constants.h
index 2335cfc..6a5970d 100644
--- a/robot_controller/constants.h
+++ b/robot_controller/constants.h
@@ -15,7 +15,7 @@ const float DEG_CM = (PI*WHEEL_DIAMETER) / 360.0;
 
 const float FORWARD_DISTANCE = 100.0; // cm
 const float TURN_AMOUNT = 180.0; // degrees
-const float TURN_DISTANCE = (TURN_AMOUNT / 360.0) * WHEEL_TO_WHEEL * PI;
+const float TURN_DISTANCE = (TURN_AMOUNT / 360.0) * WHEEL_TO_WHEEL * PI * 0.5;
 const float RETURN_DISTANCE = 100.0; // cm
 
 const float FF_ACCEL = 0.7; // motor acceleration feedforward
@@ -24,5 +24,5 @@ const float FF_STAT = 15.4; // motor static friction
 const float KP = 2.0; // proportional
 const float KI = 0.5; // integral
 const float KD = 0.05; // derivative
-const float KPP = 0.55; // position proportional
-const float KPI = 1.50; // position integral
+const float KPP = 0.15; // position proportional
+const float KPI = 0.05; // position integral
diff --git a/robot_controller/robot_controller.ino b/robot_controller/robot_controller.ino
index 4ef0028..c40ff6c 100644
--- a/robot_controller/robot_controller.ino
+++ b/robot_controller/robot_controller.ino
@@ -30,6 +30,9 @@ float left_iaccum = 0.0;
 float right_iaccum = 0.0;
 float time_p = 0.0;
 
+float left_home = 0.0;
+float right_home = 0.0;
+
 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
@@ -73,8 +76,8 @@ void loop() {
   float turnsig = (robot_state == TURN ? 1.0 : -1.0); // direction of travel for right motor
 
   // position PI controller
-  float pos_err_left = (setpoint.position / DEG_CM) - left_motor.read_angle();
-  float pos_err_right = (turnsig * setpoint.position / DEG_CM) - right_motor.read_angle();
+  float pos_err_left = ((setpoint.position / DEG_CM) + left_home) - left_motor.read_angle();
+  float pos_err_right = ((turnsig * setpoint.position / DEG_CM) + right_home) - right_motor.read_angle();
 
   // delta should be ~4ms
   if (time > time_p) {
@@ -130,18 +133,19 @@ void loop() {
   float total_pos_error = abs(pos_err_left) + abs(pos_err_right);
   // move on if at setpoint TODO: give up after timeout
   if (setpoint.complete && total_pos_error < 10.0) {
+    // rehome
+    left_home += (setpoint.position / DEG_CM);
+    right_home += (turnsig * setpoint.position / DEG_CM);
+    // zero accumulators
+    right_iaccum = 0.0; left_iaccum = 0.0;
+
     switch (robot_state) {
       case FORWARD:
         robot_state = TURN;
-        // TODO: don't forget about remaining err (add previous setpoint to global offset?)
-        left_motor.home();
-        right_motor.home();
         phase_start = (float)millis() / 1000.0;
         break;
       case TURN:
         robot_state = RETURN;
-        left_motor.home();
-        right_motor.home();
         phase_start = (float)millis() / 1000.0;
 
         break;