diff --git a/src/control.c b/src/control.c
index 7652792..f54db25 100644
--- a/src/control.c
+++ b/src/control.c
@@ -1,2 +1,42 @@
 #include "control.h"
 
+static void telemetry_free(gpointer te, gpointer x) {
+	UNUSED(x);
+	g_array_free(te->objects, TRUE);
+	g_slice_free(telemetry, (telemetry*) te);
+}
+
+static telemetry* telemetry_new() {
+	telemetry *te = g_slice_new0(telemetry);
+	te->objects = g_array_new(FALSE, FALSE, sizeof(object));
+	return te;
+}
+
+trial *trial_new() {
+	trial *t = g_slice_new0(trial);
+	g_queue_init(t->telemetry);
+	t->map.solid_objects = g_array_new(FALSE, FALSE, sizeof(object));
+	return t;
+}
+
+void trial_reset_run(trial *t) {
+	g_queue_foreach(t->telemetry, telemetry_free, NULL);
+	g_queue_clear(t->telementry);
+	t->last_ts = 0;
+}
+
+void trial_wait_for_start(trial *t) {
+}
+
+void trial_check_input(trial *t) {
+}
+
+void trial_wait_for_input(trial *t) {
+}
+
+void trial_free(trial *t) {
+	g_queue_foreach(t->telemetry, telemetry_free, NULL);
+	g_queue_clear(t->telementry);
+	g_array_free(t->map.solid_objects, TRUE);
+	g_slice_free(t);
+}
diff --git a/src/control.h b/src/control.h
index 543b38c..5971d87 100644
--- a/src/control.h
+++ b/src/control.h
@@ -3,8 +3,11 @@
 
 #include <glib.h>
 
-typedef enum { ACCELERATING, ROLLING, BRAKING } accel_t;
-typedef enum { TURN_HARD_LEFT, TURN_LEFT, TURN_STRAIGT, TURN_RIGHT, TURN_HARD_RIGHT } turn_t;
+#define INLINE static inline
+#define UNUSED(x) ((void)(x))
+
+typedef enum { ACCEL, ROLL, BREAK } accel_t;
+typedef enum { TURN_HARD_LEFT, TURN_LEFT, TURN_STRAIGHT, TURN_RIGHT, TURN_HARD_RIGHT } turn_t;
 
 typedef enum { BOLDER, CRATER, MARTIAN } object_t;
 
@@ -43,7 +46,7 @@ struct vehicle {
 struct telemetry {
 	timestamp ts;
 	vehicle vehicle;
-	GArray objects;
+	GArray *objects;
 };
 
 struct map {
@@ -52,22 +55,116 @@ struct map {
 	float min_sensor, max_sensor;
 	float max_speed, max_turn, max_turn_hard;
 
-	GList solid_objects;
+	GArray *solid_objects;
 };
 
 struct trial {
 	map map;
 	timestamp last_ts;
-	GList telemetry_data;
+	GQueue telemetry_data;
 	vehicle vehicle; /* our view */
+	
+	/* internal */
+	int socket;
 };
 
 /* trial */
 trial *trial_new();
-void trial_reset_run(trial *trial);
-void trial_wait_for_start(trial *trial);
-void trial_check_input(trial *trial);
-void trial_wait_for_input(trial *trial);
-void trial_free(trial *trial);
+void trial_reset_run(trial *t);
+void trial_wait_for_start(trial *t);
+void trial_check_input(trial *t);
+void trial_wait_for_input(trial *t);
+void trial_free(trial *t);
+
+INLINE void vehicle_accel(trial *t);
+INLINE void vehicle_roll(trial *t);
+INLINE void vehicle_break(trial *t);
+
+INLINE void vehicle_hard_left(trial *t);
+INLINE void vehicle_left(trial *t);
+INLINE void vehicle_straight(trial *t);
+INLINE void vehicle_right(trial *t);
+INLINE void vehicle_hard_right(trial *t);
+
+/* Inline functions */
+
+#define SENDCMD(t, cmd) write(t->socket, cmd, sizeof(cmd)-1)
+
+INLINE void vehicle_accel(trial *t) {
+	switch (t->vehicle.accel) {
+		case ACCEL: return;
+		case ROLL:  SENDCMD(t, "a;"); break;
+		case BREAK: SENDCMD(t, "a;a;"); break;
+	}
+	t->vehicle.accel = ACCEL;
+}
+INLINE void vehicle_roll(trial *t) {
+	switch (t->vehicle.accel) {
+		case ACCEL: SENDCMD(t, "b;"); break;
+		case ROLL:  return;
+		case BREAK: SENDCMD(t, "a;"); break;
+	}
+	t->vehicle.accel = ROLL;
+}
+INLINE void vehicle_break(trial *t) {
+	switch (t->vehicle.accel) {
+		case ACCEL: SENDCMD(t, "b;b;"); break;
+		case ROLL:  SENDCMD(t, "b;"); break;
+		case BREAK: return;
+	}
+	t->vehicle.accel = BREAK;
+}
+
+INLINE void vehicle_hard_left(trial *t) {
+	switch (t->vehicle.turn) {
+		case TURN_HARD_LEFT:  return;
+		case TURN_LEFT:       SENDCMD(t, "l;"); break;
+		case TURN_STRAIGHT:   SENDCMD(t, "l;l;"); break;
+		case TURN_RIGHT:      SENDCMD(t, "l;l;l;"); break;
+		case TURN_HARD_RIGHT: SENDCMD(t, "l;l;l;l;"); break;
+	}
+	t->vehicle.turn = TURN_HARD_LEFT;
+}
+
+INLINE void vehicle_left(trial *t) {
+	switch (t->vehicle.turn) {
+		case TURN_HARD_LEFT:  SENDCMD(t, "r;"); break;
+		case TURN_LEFT:       return;
+		case TURN_STRAIGHT:   SENDCMD(t, "l;"); break;
+		case TURN_RIGHT:      SENDCMD(t, "l;l;"); break;
+		case TURN_HARD_RIGHT: SENDCMD(t, "l;l;l;"); break;
+	}
+	t->vehicle.turn = TURN_LEFT;
+}
+INLINE void vehicle_straight(trial *t) {
+	switch (t->vehicle.turn) {
+		case TURN_HARD_LEFT:  SENDCMD(t, "r;r;"); break;
+		case TURN_LEFT:       SENDCMD(t, "r;"); break;
+		case TURN_STRAIGHT:   return;
+		case TURN_RIGHT:      SENDCMD(t, "l;"); break;
+		case TURN_HARD_RIGHT: SENDCMD(t, "l;l;"); break;
+	}
+	t->vehicle.turn = TURN_STRAIGHT;
+}
+INLINE void vehicle_right(trial *t) {
+	switch (t->vehicle.turn) {
+		case TURN_HARD_LEFT:  SENDCMD(t, "r;r;r;"); break;
+		case TURN_LEFT:       SENDCMD(t, "r;r;"); break;
+		case TURN_STRAIGHT:   SENDCMD(t, "r;"); break;
+		case TURN_RIGHT:      return;
+		case TURN_HARD_RIGHT: SENDCMD(t, "l;"); break;
+	}
+	t->vehicle.turn = TURN_RIGHT;
+}
+INLINE void vehicle_hard_right(trial *t) {
+	switch (t->vehicle.turn) {
+		case TURN_HARD_LEFT:  SENDCMD(t, "r;r;r;r;"); break;
+		case TURN_LEFT:       SENDCMD(t, "r;r;r;"); break;
+		case TURN_STRAIGHT:   SENDCMD(t, "r;r;"); break;
+		case TURN_RIGHT:      SENDCMD(t, "r;"); break;
+		case TURN_HARD_RIGHT: return;
+	}
+	t->vehicle.turn = TURN_HARD_RIGHT;
+}
 
 #endif