diff --git a/src/lookahead.c b/src/lookahead.c
index e0b0254..b30be3f 100644
--- a/src/lookahead.c
+++ b/src/lookahead.c
@@ -69,7 +69,7 @@ void fit_parameter(telemetry* t1, telemetry* t2, telemetry* t3, map* m){
 void radar_dgl(trial* t, timestamp ts){
 	timestamp step = ts- t->sim.tm.ts;
 	if (step > 0){
-		dgl(t,&t->sim.tm.vehicle,&t->sim.tm.vehicle,step,1);
+		dgl(t,&t->sim.tm.vehicle,&t->sim.tm.vehicle,1,step);
 		t->sim.tm.ts += step;
 		t->sim.steps++;
 	}
@@ -90,6 +90,7 @@ void sim_update(trial* t){
 		t->sim.tm.vehicle.y - t->vehicle.y,
 		t->sim.tm.vehicle.dir - t->vehicle.dir,
 		t->sim.steps);
+// 	fprintf(stderr, "w = %f, dir = %f\n", t->sim.tm.vehicle.w, t->sim.tm.vehicle.dir);
 
 	/*update simulation vehicle from telemetry: everything and calculate w*/
 	t->sim.tm.vehicle = tm->vehicle;
@@ -100,6 +101,7 @@ void sim_update(trial* t){
 		tmp = (telemetry*) g_queue_peek_tail_link(&t->telemetry)->prev->data;
 		t->sim.tm.vehicle.w = (tm->vehicle.dir - tmp->vehicle.dir)/(tm->ts - tmp->ts);
 	}
+// 	fprintf(stderr, "w = %f, dir = %f\n", t->sim.tm.vehicle.w, t->sim.tm.vehicle.dir);
 }
 
 int dgl(trial* t, vehicle* after, vehicle* before, timestamp h, timestamp deltat){
@@ -122,18 +124,20 @@ int dgl(trial* t, vehicle* after, vehicle* before, timestamp h, timestamp deltat
 	aw *= (before->w > wsoll) ? -1 : 1;
 
 	for(i = 0;i<=end;i++){
-		if(i == end) dt = deltat - (end-1)*dt;
+		if(i == end) dt = deltat - end*dt;
 		
 		/*calculate derivative*/
 		diff.x = cos(tmp.dir)*tmp.speed/1000;
 		diff.y = sin(tmp.dir)*tmp.speed/1000;
-		diff.speed = fmax(-tmp.speed,a - k*tmp.speed*tmp.speed*1e-6);
+		diff.speed = a - k*tmp.speed*tmp.speed*1e-6;
+// 		diff.speed = fmax(-tmp.speed/1000,a - k*tmp.speed*tmp.speed*1e-6);
 		diff.w = (tmp.w == wsoll) ? 0 : aw;
 		diff.dir = tmp.w;
 		/*Euler Step*/
 		tmp.x += dt*diff.x;
 		tmp.y += dt*diff.y;
-		tmp.speed += (tmp.speed > 0) ? dt*diff.speed : 0;
+// 		tmp.speed += (tmp.speed > 0) ? 1000*dt*diff.speed : 0;
+		tmp.speed = fmax(0, tmp.speed + dt*1000*diff.speed);
 		tmp.w += dt*diff.w;
 		tmp.dir += dt*diff.dir;
 
@@ -141,10 +145,10 @@ int dgl(trial* t, vehicle* after, vehicle* before, timestamp h, timestamp deltat
 		collision.x = tmp.x;
 		collision.y = tmp.y;
 		collision.collision = 0;
-		g_hash_table_foreach(t->map.solid_objects,check_coll,&collision);
-		if(collision.collision){
-			return -1;	
-		}
+// 		g_hash_table_foreach(t->map.solid_objects,check_coll,&collision);
+// 		if(collision.collision){
+// 			return -1;	
+// 		}
 		
 	}
 
diff --git a/src/radar_main.c b/src/radar_main.c
index 8484dbb..dd01177 100644
--- a/src/radar_main.c
+++ b/src/radar_main.c
@@ -33,9 +33,9 @@ void trial_loop(trial *t) {
 		}
 		while (t->alive) {
 			radar_dgl(t, getcurts(t) + LATENCY);
-// 			goradar(t);
-			vehicle_break(t);
-			vehicle_hard_right(t);
+			goradar(t);
+// 			vehicle_break(t);
+// 			vehicle_hard_right(t);
 			if (-1 == trial_check_input(t)) return;
 // 			if (-1 == trial_wait_for_input(t)) return;
 		}