diff --git a/simcontroller/src/main.rs b/simcontroller/src/main.rs
index 374620a..25a19c7 100644
--- a/simcontroller/src/main.rs
+++ b/simcontroller/src/main.rs
@@ -18,6 +18,7 @@ struct MyRobot {
     last_frame_keypoints: Option<Vector<KeyPoint>>,
     last_image: Option<Mat>,
     direction: f32,
+    rotational_velocity: f32,
 }
 
 impl Robot for MyRobot {
@@ -54,6 +55,7 @@ impl Robot for MyRobot {
             last_frame_keypoints: None,
             last_image: None,
             direction: 0.,
+            rotational_velocity: 0.,
         }
     }
 
@@ -80,7 +82,10 @@ impl Robot for MyRobot {
 
 
             if let Some(mut last_frame_descriptors) = self.last_frame_descriptors.as_ref() {
-                self.matcher.train_match_def(&mut last_frame_descriptors, &mut descriptors, &mut matches).unwrap();
+                if let Err(e) = self.matcher.train_match_def(&mut last_frame_descriptors, &mut descriptors, &mut matches) {
+                    eprintln!("no features to match");
+                }
+
 
                 let matches = matches.iter().filter(|m| m.distance < 105.).collect();
                 draw_matches_def(self.last_image.as_ref().unwrap(), self.last_frame_keypoints.as_ref().unwrap(), &img , &keypoints, &matches, &mut debugout).unwrap();
@@ -92,13 +97,19 @@ impl Robot for MyRobot {
                     let last = self.last_frame_keypoints.as_ref().unwrap().get(hit.query_idx as usize).unwrap();
                     let current = keypoints.get(hit.train_idx as usize).unwrap();
 
-                    horiz.push(last.pt().x - current.pt().x);
+                    let dx = last.pt().x - current.pt().x;
+
+                    horiz.push(dx);
                 }
                 if horiz.len() > 0 {
                     let avg = horiz.iter().sum::<f32>()/horiz.len() as f32;
 
-                    self.direction += avg;
+                    let lerp = 0.1 + horiz.len() as f32 * 0.05;
+                    let lerp = lerp.max(0.65);
+                    self.rotational_velocity = self.rotational_velocity * (1.-lerp) + avg * lerp;
+                    //self.direction += avg;
                 }
+                self.direction += self.rotational_velocity;
             }
             self.last_frame_descriptors = Some(descriptors);
             self.last_frame_keypoints = Some(keypoints);
@@ -106,10 +117,19 @@ impl Robot for MyRobot {
         }
         highgui::poll_key().unwrap();
 
-        // initialize motor speeds at 50% of MAX_SPEED.
-        let error = 320. - self.direction as f64;
-        let error = error * 0.05;
+        const DEG_TO_PX: f64 = 320. / 62.2;
+        let goal = if _time.elapsed.as_secs() % 8 < 4 {
+            90. * DEG_TO_PX
+        } else {
+            90. * DEG_TO_PX 
+        };
+        let error = goal - self.direction as f64;
+        let mut error = error * 0.02;
+        if error.abs() < 0.5 {
+            error = 0.;
+        }
         dbg!(self.direction);
+        dbg!(self.rotational_velocity);
         let mut left_speed = error * MAX_SPEED;
         let mut right_speed = -error * MAX_SPEED;