diff --git a/app b/app
index c4f3e08..efe3816 100644
Binary files a/app and b/app differ
diff --git a/app.cpp b/app.cpp
index 5cbd715..89e238b 100644
--- a/app.cpp
+++ b/app.cpp
@@ -103,10 +103,10 @@ return true if ran till the end and false if stopped by middle button
 */
 bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSensor gyro)
 {
-    const int LEFT_THRESHOLD = -3;
-    const int RIGHT_THRESHOLD = 3;
+    const int LEFT_THRESHOLD = -2;
+    const int RIGHT_THRESHOLD = 2;
     const int CORRECTION_MULTIPLIER = 2;
-    const int CYCLE_LIMIT = 0;//75;
+    const int CYCLE_LIMIT = 95;
 
     gyro.resetHard();
     ev3cxx::BrickButton btnEnter(ev3cxx::BrickButtons::ENTER); // Middle button
@@ -115,16 +115,11 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens
     motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
     motor_powers.rMotorPWR = idealMPWRS.rMotorPWR;
 
-    int lCounter = 0;
-    int rCounter = 0;
-
     bool run = true;
     int cycleCounter = 0;
-    int lastRProblem = 0;
-    int lastLProblem = 0;
+
     while (run)
     {
-
         motors.on(motor_powers.lMotorPWR, motor_powers.rMotorPWR);
         tslp_tsk(50);
 
@@ -149,66 +144,25 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens
 
         // Check gyro angle and change driving speed to fix the angle
         // To the left
-        if (angle > LEFT_THRESHOLD) {
+        if (angle < LEFT_THRESHOLD) {
             //ev3_speaker_play_tone(NOTE_A5, 250);
             int correction = angle - LEFT_THRESHOLD;
-            motor_powers.lMotorPWR += (int)pow(CORRECTION_MULTIPLIER, correction);
+            motor_powers.lMotorPWR += correction * CORRECTION_MULTIPLIER;//(int)pow(CORRECTION_MULTIPLIER, correction);
             ev3_speaker_play_tone(correction*1000,50);
             // Check if the motor is stuck
             if(lPower == 0){
                 ev3_speaker_play_tone(NOTE_A5,250);
-                
-                // Set lastProblem na cycleCounter because there is a problem
-                lastLProblem = cycleCounter;
-
-                // Check if lastProblem was in previous cycle
-                if(cycleCounter - 1 == lastLProblem){
-                    lCounter += 1;
-                    // If 5 problems occured than try to fix the problem
-                    if(lCounter == 6){
-                        ev3_speaker_play_tone(NOTE_C4, 250);
-                        ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
-                        motors.on(-motor_powers.rMotorPWR, -motor_powers.lMotorPWR);
-                        tslp_tsk(250);
-                        motors.off();
-                        lCounter = 0;
-                    }
-                // Reset counter
-                } else {
-                    lCounter = 0;
-                }
-                
             }
             
         // To the right
-        } else if (angle < RIGHT_THRESHOLD) {
+        } else if (angle > RIGHT_THRESHOLD) {
             //ev3_speaker_play_tone(NOTE_A4, 250);
             int correction = angle - RIGHT_THRESHOLD;
-            motor_powers.rMotorPWR += (int)pow(CORRECTION_MULTIPLIER, correction);//correction * CORRECTION_MULTIPLIER;
+            motor_powers.rMotorPWR += correction * CORRECTION_MULTIPLIER;//(int)pow(CORRECTION_MULTIPLIER, correction);//correction * CORRECTION_MULTIPLIER;
             ev3_speaker_play_tone(correction*1000,50);
             // Check if the motor is stuck
             if(rPower == 0){
                 ev3_speaker_play_tone(NOTE_A4,250);
-                
-                // Set lastProblem na cycleCounter because there is a problem
-                lastRProblem = cycleCounter;
-
-                // Check if lastProblem was in previous cycle
-                if(cycleCounter - 1 == lastRProblem){
-                    rCounter += 1;
-                    // If 5 problems occured than try to fix the problem
-                    if(rCounter == 6){
-                        ev3_speaker_play_tone(NOTE_C5, 250);
-                        ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
-                        motors.on(-motor_powers.rMotorPWR, -motor_powers.lMotorPWR);
-                        tslp_tsk(250);
-                        motors.off();
-                        rCounter = 0;
-                    }
-                // Reset counter
-                } else {
-                    rCounter = 0;
-                }
             }
         }
 
@@ -227,7 +181,7 @@ void main_task(intptr_t unused)
 
     // Create version info
     // version createVersion(int versionID, const char *codename, int major, int minor, int patch, int day, int month, int year, int hour, int minute)
-    const version VERSION = createVersion(51, "HELGA", 0, 4, 0, 8, 11, 2023, 15, 40);
+    const version VERSION = createVersion(54, "HELGA", 0, 4, 1, 10, 11, 2023, 12, 10);
 
     // Set-up screen
     ev3cxx::display.resetScreen();
@@ -256,9 +210,10 @@ void main_task(intptr_t unused)
     tslp_tsk(200);
 
     // Set up motor powers
+    const int SPEED_MODIFIER = 30;
     MPWRS idealMPWRS;
-    idealMPWRS.lMotorPWR = 85;
-    idealMPWRS.rMotorPWR = 50;
+    idealMPWRS.lMotorPWR = 70 - SPEED_MODIFIER;
+    idealMPWRS.rMotorPWR = 50 - SPEED_MODIFIER;
 
     MPWRS motor_powers;
     motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;