diff --git a/README.md b/README.md
new file mode 100644
index 0000000..69eb328
--- /dev/null
+++ b/README.md
@@ -0,0 +1 @@
+# ROBOSOUTĚŽ 2023
diff --git a/app b/app
index 6aae6a0..c4f3e08 100644
Binary files a/app and b/app differ
diff --git a/app.cpp b/app.cpp
index e861c2c..5cbd715 100644
--- a/app.cpp
+++ b/app.cpp
@@ -3,6 +3,7 @@
 #include <ctime>
 #include <functional>
 #include <sstream>
+#include <math.h>
 
 /*
 Change notes:
@@ -104,7 +105,7 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens
 {
     const int LEFT_THRESHOLD = -3;
     const int RIGHT_THRESHOLD = 3;
-    const int CORRECTION_MULTIPLIER = 3;
+    const int CORRECTION_MULTIPLIER = 2;
     const int CYCLE_LIMIT = 0;//75;
 
     gyro.resetHard();
@@ -151,7 +152,7 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens
         if (angle > LEFT_THRESHOLD) {
             //ev3_speaker_play_tone(NOTE_A5, 250);
             int correction = angle - LEFT_THRESHOLD;
-            motor_powers.lMotorPWR += correction * CORRECTION_MULTIPLIER;
+            motor_powers.lMotorPWR += (int)pow(CORRECTION_MULTIPLIER, correction);
             ev3_speaker_play_tone(correction*1000,50);
             // Check if the motor is stuck
             if(lPower == 0){
@@ -166,7 +167,11 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens
                     // If 5 problems occured than try to fix the problem
                     if(lCounter == 6){
                         ev3_speaker_play_tone(NOTE_C4, 250);
-                        ev3cxx::setColor(RED);
+                        ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
+                        motors.on(-motor_powers.rMotorPWR, -motor_powers.lMotorPWR);
+                        tslp_tsk(250);
+                        motors.off();
+                        lCounter = 0;
                     }
                 // Reset counter
                 } else {
@@ -179,7 +184,7 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens
         } else if (angle < RIGHT_THRESHOLD) {
             //ev3_speaker_play_tone(NOTE_A4, 250);
             int correction = angle - RIGHT_THRESHOLD;
-            motor_powers.rMotorPWR += correction * CORRECTION_MULTIPLIER;
+            motor_powers.rMotorPWR += (int)pow(CORRECTION_MULTIPLIER, correction);//correction * CORRECTION_MULTIPLIER;
             ev3_speaker_play_tone(correction*1000,50);
             // Check if the motor is stuck
             if(rPower == 0){
@@ -194,7 +199,11 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens
                     // If 5 problems occured than try to fix the problem
                     if(rCounter == 6){
                         ev3_speaker_play_tone(NOTE_C5, 250);
-                        ev3cxx::setColor(ORANGE);
+                        ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
+                        motors.on(-motor_powers.rMotorPWR, -motor_powers.lMotorPWR);
+                        tslp_tsk(250);
+                        motors.off();
+                        rCounter = 0;
                     }
                 // Reset counter
                 } else {
@@ -248,7 +257,7 @@ void main_task(intptr_t unused)
 
     // Set up motor powers
     MPWRS idealMPWRS;
-    idealMPWRS.lMotorPWR = 87;
+    idealMPWRS.lMotorPWR = 85;
     idealMPWRS.rMotorPWR = 50;
 
     MPWRS motor_powers;