diff --git a/src/path.c b/src/path.c
index cd33a08..1290bb5 100644
--- a/src/path.c
+++ b/src/path.c
@@ -1,4 +1,5 @@
-
+#include <stdio.h>
+#include <stdlib.h>
 #include <math.h>
 #include "path.h"
 
@@ -8,6 +9,7 @@ command *command_new(timestamp ts, accel_t a, turn_t t){
 	res->ts = ts;
 	res->accel = a;
 	res->turn = t;
+	return res;
 }
 
 void command_free(command* c){
@@ -22,25 +24,26 @@ path *path_new(map* m,vehicle *v){
 	/* Calculate a trivial path to the origin*/
 
 	/* Turn towards origin, take shorter direction*/
-	angle = atan(v->y/y->x);
+	angle = atan(v->y/v->x);
 	stop = abs(angle - v->dir)/m->max_turn;
 	if(angle - v->dir > 0){
 		/*clockwise/left turn*/
 		tmp = command_new(0,BREAK,TURN_LEFT);
-		g_push_tail(res-commands,tmp);
+		g_queue_push_tail(res->commands,tmp);
 		tmp = command_new(stop,BREAK,TURN_RIGHT);
-		g_push_tail(res-commands,tmp);
-	else {
+		g_queue_push_tail(res->commands,tmp);
+	} else {
 		/*counterclockwise/right turn*/
 		tmp = command_new(0,BREAK,TURN_RIGHT);
-		g_push_tail(res-commands,tmp);
+		g_queue_push_tail(res->commands,tmp);
 		tmp = command_new(stop,BREAK,TURN_LEFT);
-		g_push_tail(res-commands,tmp);
+		g_queue_push_tail(res->commands,tmp);
 	}
 
 	/*start driving*/
 	tmp = command_new(stop,ACCEL,TURN_STRAIGHT);
-	g_push_tail(res-commands,tmp);
+	g_queue_push_tail(res->commands,tmp);
+	return res;
 }
 
 void path_execute(trial* t,path* p){
@@ -73,7 +76,7 @@ void path_free(path* p){
 	length = g_queue_get_length(p->commands);
 	if(length > 0){
 		fprintf(stderr,"freeing non-empty path\n");
-		while(g_queue_get_length(p->commands > 0)){
+		while(g_queue_get_length(p->commands) > 0){
 			tmp = g_queue_pop_head(p->commands);	
 			command_free(tmp);
 		}