diff --git a/app b/app
index efe3816..756a27a 100644
Binary files a/app and b/app differ
diff --git a/app.cpp b/app.cpp
index 89e238b..69aeaae 100644
--- a/app.cpp
+++ b/app.cpp
@@ -105,8 +105,8 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens
 {
     const int LEFT_THRESHOLD = -2;
     const int RIGHT_THRESHOLD = 2;
-    const int CORRECTION_MULTIPLIER = 2;
-    const int CYCLE_LIMIT = 95;
+    const int CORRECTION_MULTIPLIER = 20;
+    const int CYCLE_LIMIT = 90;
 
     gyro.resetHard();
     ev3cxx::BrickButton btnEnter(ev3cxx::BrickButtons::ENTER); // Middle button
@@ -147,10 +147,11 @@ 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;//(int)pow(CORRECTION_MULTIPLIER, correction);
-            ev3_speaker_play_tone(correction*1000,50);
+            motor_powers.lMotorPWR = motor_powers.lMotorPWR + ((int)pow(CORRECTION_MULTIPLIER, correction));//(int)pow(CORRECTION_MULTIPLIER, correction);
+            ev3_speaker_play_tone(correction*1000,30);
             // Check if the motor is stuck
             if(lPower == 0){
+                ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
                 ev3_speaker_play_tone(NOTE_A5,250);
             }
             
@@ -158,10 +159,11 @@ 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;//(int)pow(CORRECTION_MULTIPLIER, correction);//correction * CORRECTION_MULTIPLIER;
-            ev3_speaker_play_tone(correction*1000,50);
+            motor_powers.rMotorPWR = motor_powers.rMotorPWR + ((int)pow(CORRECTION_MULTIPLIER, correction));//(int)pow(CORRECTION_MULTIPLIER, correction);//correction * CORRECTION_MULTIPLIER;
+            ev3_speaker_play_tone(correction*1000,30);
             // Check if the motor is stuck
             if(rPower == 0){
+                ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
                 ev3_speaker_play_tone(NOTE_A4,250);
             }
         }
@@ -181,7 +183,7 @@ 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(54, "HELGA", 0, 4, 1, 10, 11, 2023, 12, 10);
+    const version VERSION = createVersion(58, "HELGA", 0, 4, 1, 10, 11, 2023, 12, 10);
 
     // Set-up screen
     ev3cxx::display.resetScreen();