diff --git a/src/main.c b/src/main.c
index 664c7fd..4b693ee 100644
--- a/src/main.c
+++ b/src/main.c
@@ -23,7 +23,7 @@ int main(int argc, char **argv) {
 	p = path_new(&t->map,&t->vehicle);	
 	while(t->alive){
 		path_execute(t,p);
-		trial_wait_for_input(t);
+		trial_check_input(t);
 	}
 
 	path_free(p);
diff --git a/src/path.c b/src/path.c
index 26a821a..b85766a 100644
--- a/src/path.c
+++ b/src/path.c
@@ -26,8 +26,9 @@ path *path_new(map* m,vehicle *v){
 	/* Calculate a trivial path to the origin*/
 
 	/* Turn towards origin, take shorter direction*/
-	angle = atan(v->y/v->x);
-	stop = abs(angle - v->dir)/m->max_turn;
+	angle = atan(v->y/v->x)*180/M_PI;
+	stop = abs(angle - v->dir)/m->max_turn*1000;
+	printf("Angle: %f stop: %f\n",angle,stop);
 	if(angle - v->dir > 0){
 		/*clockwise/left turn*/
 		tmp = command_new(0,BREAK,TURN_LEFT);
@@ -48,16 +49,20 @@ path *path_new(map* m,vehicle *v){
 
 void path_execute(trial* t,path* p){
 	command* tmp;
+	timestamp now;
 	tmp = (command*) g_queue_peek_head(p->commands);
-	if(tmp == NULL){
+	/*if(tmp == NULL){
 		fprintf(stderr,"warning: cannot execute empty path\n");
-	}
+	}*/
 	if(t == NULL){
 		fprintf(stderr,"trial is null\n");
 		return;
 	}
+
+	now = timestamp_get_curts(t);
+	/*fprintf(stderr,"Now: %d TS: %d\n",now,clock());*/
 	/*magic number for latency, send messages that much earlier*/
-	while(tmp != NULL && tmp->ts - t->last_ts < 20){
+	while(tmp != NULL && now - 20 > tmp->ts){
 		tmp = (command*) g_queue_pop_head(p->commands);
 		switch(tmp->turn){
 			case TURN_HARD_LEFT: vehicle_hard_left(t); break;