diff --git a/src/main.c b/src/main.c
index e89515a..505174c 100644
--- a/src/main.c
+++ b/src/main.c
@@ -18,9 +18,9 @@ int main(int argc, char **argv) {
 	}
 
 	/*create trivial path towards the origin*/
-	p = path_new(&t->map,&t->vehicle);	
 	
 	trial_wait_for_start(t);
+	p = path_new(&t->map,&t->vehicle);	
 	while(t->alive){
 		trial_wait_for_input(t);
 		path_execute(t,p);
diff --git a/src/path.c b/src/path.c
index 81e97cc..26a821a 100644
--- a/src/path.c
+++ b/src/path.c
@@ -32,15 +32,13 @@ path *path_new(map* m,vehicle *v){
 		/*clockwise/left turn*/
 		tmp = command_new(0,BREAK,TURN_LEFT);
 		g_queue_push_tail(res->commands,tmp);
-		tmp = command_new(stop,BREAK,TURN_RIGHT);
-		g_queue_push_tail(res->commands,tmp);
 	} else {
 		/*counterclockwise/right turn*/
 		tmp = command_new(0,BREAK,TURN_RIGHT);
 		g_queue_push_tail(res->commands,tmp);
-		tmp = command_new(stop,BREAK,TURN_LEFT);
-		g_queue_push_tail(res->commands,tmp);
 	}
+	tmp = command_new(stop,BREAK,TURN_STRAIGHT);
+	g_queue_push_tail(res->commands,tmp);
 
 	/*start driving*/
 	tmp = command_new(stop,ACCEL,TURN_STRAIGHT);
@@ -51,8 +49,15 @@ path *path_new(map* m,vehicle *v){
 void path_execute(trial* t,path* p){
 	command* tmp;
 	tmp = (command*) g_queue_peek_head(p->commands);
+	if(tmp == NULL){
+		fprintf(stderr,"warning: cannot execute empty path\n");
+	}
+	if(t == NULL){
+		fprintf(stderr,"trial is null\n");
+		return;
+	}
 	/*magic number for latency, send messages that much earlier*/
-	while(tmp->ts - t->last_ts < 20){
+	while(tmp != NULL && tmp->ts - t->last_ts < 20){
 		tmp = (command*) g_queue_pop_head(p->commands);
 		switch(tmp->turn){
 			case TURN_HARD_LEFT: vehicle_hard_left(t); break;