diff --git a/src/robot-nav.cpp b/src/robot-nav.cpp
index e975cea..7146f21 100644
--- a/src/robot-nav.cpp
+++ b/src/robot-nav.cpp
@@ -42,22 +42,37 @@ void Robot::SetDestination(const Pose& dest)
     robotState = ROBOT_DRIVE_TO_POINT;
 }
 
+float Robot::SquareDistance(void) {
+    return pow((destPose.x - currPose.x),2) + pow((destPose.y-currPose.y),2);
+}
+
 bool Robot::CheckReachedDestination(void)
 {
     /**
      * TODO: Add code to check if you've reached destination here.
      */
 
-    float sq_dist =  pow((destPose.x - currPose.x),2) + pow((destPose.y-currPose.y),2);
     float rad_error = abs(destPose.theta - currPose.theta);
 
-    return sq_dist < TARGET_SQ_DIST && rad_error < TARGET_RAD_ERR;
+    return SquareDistance() < TARGET_SQ_DIST && rad_error < TARGET_RAD_ERR;
 }
 
 void Robot::DriveToPoint(void)
 {
     if(robotState == ROBOT_DRIVE_TO_POINT)
     {
+        float target_heading;
+
+        if (SquareDistance() < TARGET_SQ_DIST) {
+            target_heading = destPose.theta;
+        } else {
+            target_heading = atan2(destPose.x - currPose.x, destPose.y - currPose.y);
+        }
+
+        float heading_err = destPose.theta - target_heading;
+        float forward_effort = cos(heading_err);
+
+
         /**
          * TODO: Add your IK algorithm here. 
          */
diff --git a/src/robot.h b/src/robot.h
index 0c043aa..7d8bd5e 100644
--- a/src/robot.h
+++ b/src/robot.h
@@ -52,4 +52,7 @@ protected:
     void CalibDrive(void);
     bool CheckReachedDestination(void);
     void HandleDestination(void);
+
+    // Square distance between current and target pose
+    float SquareDistance(void);
 };