diff --git a/shittyrobot.py b/shittyrobot.py
index d1aff6a..3262b6f 100644
--- a/shittyrobot.py
+++ b/shittyrobot.py
@@ -64,17 +64,17 @@ c = []
 def controlloop(last_start, next_action):
     now = time.ticks_us()
     
-    #print('CTRL: ', last_start, next_action)
+    print('CTRL: ', last_start, next_action)
     if time.ticks_diff(now, time.ticks_add(last_start, 100000)) < 0:
-        print(' DEADTIME -> ignore')
-        return last_start
+       print(' DEADTIME -> ignore')
+       return last_start
 
     if next_action is None and time.ticks_diff(time.ticks_add(last_start, 601000), now) > 0:
-        print(' ACTION TIMED OUT -> stopping')
-        next_action = (0,0)
+       print(' ACTION TIMED OUT -> stopping')
+       next_action = (0,0)
     elif next_action is None:
-        return last_start
-
+       return last_start
+    
     print('Starting action: ', next_action)
     
     if next_action[0] == 1:
@@ -146,9 +146,9 @@ def mainloop(l):
         elif a == b'w':
             next_action = (1, 1)
         elif a == b'a':
-            next_action = (0, 1)
+            next_action = (-1, 1)
         elif a == b'd':
-            next_action = (1, 0)
+            next_action = (1, -1)
         elif a == b's':
             next_action = (-1, -1)
         elif a in [b'\n', b'\r']: