diff --git a/robot_controller/constants.h b/robot_controller/constants.h
index 88ec2cd..4956d8d 100644
--- a/robot_controller/constants.h
+++ b/robot_controller/constants.h
@@ -5,7 +5,7 @@ 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
-const float WHEEL_TO_WHEEL = 0.0; // cm
+const float WHEEL_TO_WHEEL = 10.0; // cm
 
 // centimeters per second to rpm
 const float CMS_RPM = 60.0 / (PI*WHEEL_DIAMETER);
@@ -13,8 +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 = 30.0; // cm
+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 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 e2340da..e5251ad 100644
--- a/robot_controller/robot_controller.ino
+++ b/robot_controller/robot_controller.ino
@@ -25,6 +25,7 @@ float phase_start;
 enum ROBOT_STATE robot_state;
 
 struct Trapezoidal forward = {VEL_LIMIT, ACCEL_LIMIT, FORWARD_DISTANCE};
+struct Trapezoidal turn = {VEL_LIMIT, ACCEL_LIMIT, TURN_DISTANCE};
 
 void write_rpm_ff(SmartMotor* motor, int32_t rpm, float ff) {
   if (rpm == 0) {rpm = 1;};
@@ -57,11 +58,11 @@ void loop() {
   float time = (float)millis() / 1000.0 - phase_start;
   switch (robot_state) {
     case FORWARD:
+    case RETURN:
       setpoint = trapezoidal_planner(&forward, time);
       break;
     case TURN:
-      break;
-    case RETURN:
+      setpoint = trapezoidal_planner(&forward, time);
       break;
   }
 
@@ -106,16 +107,19 @@ void loop() {
       case FORWARD:
         robot_state = TURN;
         phase_start = (float)millis() / 1000.0;
-
-        // end (temp)
-        left_motor.write_rpm(0.0);
-        delay(10);
-        right_motor.write_rpm(0.0);
-        for (;;) {};
         break;
       case TURN:
+        robot_state = RETURN;
+        phase_start = (float)millis() / 1000.0;
+
         break;
       case RETURN:
+
+        // end
+        left_motor.write_rpm(0.0);
+        delay(1);
+        right_motor.write_rpm(0.0);
+        for (;;) {};
         break;
     }
   }