diff --git a/src/lookahead.c b/src/lookahead.c
index 3bc1ee4..24020ac 100644
--- a/src/lookahead.c
+++ b/src/lookahead.c
@@ -1,17 +1,18 @@
-#include "control.h"
+#include "lookahead.h"
 #include <stdio.h>
 #include <math.h>
 
 
-double turn2w(trial* t, turn_t turn){
+double turn2w(trial* t, turn_t turn) {
 	switch(turn){
 		case(TURN_HARD_LEFT): return t->map.max_hard_turn/1000.0;
 		case(TURN_LEFT): return t->map.max_turn/1000.0;
 		case(TURN_STRAIGHT): return 0;
 		case(TURN_RIGHT): return -t->map.max_turn/1000.0;
 		case(TURN_HARD_RIGHT): return -t->map.max_hard_turn/1000.0;
-		fprintf(stderr,"Unknown turn state in turn2w\n");
-		return 0;
+		default:
+			fprintf(stderr,"Unknown turn state in turn2w\n");
+			return 0;
 	}
 }
 
@@ -24,6 +25,8 @@ void check_coll(gpointer key, gpointer value, gpointer ud){
 	struct collcheck* coll;
 	object* ob;
 
+	UNUSED(key);
+
 	coll = (struct collcheck*) ud;
 	ob = (object*) value;
 
diff --git a/src/lookahead.h b/src/lookahead.h
new file mode 100644
index 0000000..ad6d559
--- /dev/null
+++ b/src/lookahead.h
@@ -0,0 +1,10 @@
+#ifndef _LOOKAHEAD_H
+#define _LOOKAHEAD_H
+
+#include "control.h"
+
+double turn2w(trial* t, turn_t turn);
+void fit_parameter(telemetry* t1, telemetry* t2, telemetry* t3, map* m);
+int dgl(trial* t, vehicle* after, vehicle* before, timestamp h, timestamp deltat);
+
+#endif
\ No newline at end of file
diff --git a/src/radar_main.c b/src/radar_main.c
index 9c19fcc..0186dc3 100644
--- a/src/radar_main.c
+++ b/src/radar_main.c
@@ -1,5 +1,6 @@
 
 #include "control.h"
+#include "lookahead.h"
 
 #include <stdio.h>
 
@@ -33,7 +34,7 @@ void trial_loop(trial *t) {
 		while (t->alive) {
 			timestamp step=getcurts(t) + LATENCY - t->sim.tm.ts;
 			
-			t->sim.tm.vehicle.w = turn2w(t->sim.tm.vehicle.turn);
+			t->sim.tm.vehicle.w = turn2w(t, t->sim.tm.vehicle.turn);
 
 			dgl(t,&t->sim.tm.vehicle,&t->sim.tm.vehicle,step,step);
 			t->sim.steps++;