diff --git a/ESP-IDF_Robot/build/.ninja_lock b/ESP-IDF_Robot/build/.ninja_lock
new file mode 100644
index 000000000..e69de29bb
diff --git a/ESP-IDF_Robot/build/CMakeFiles/git-data/HEAD b/ESP-IDF_Robot/build/CMakeFiles/git-data/HEAD
index b870d8262..b3440b61b 100644
--- a/ESP-IDF_Robot/build/CMakeFiles/git-data/HEAD
+++ b/ESP-IDF_Robot/build/CMakeFiles/git-data/HEAD
@@ -1 +1 @@
-ref: refs/heads/main
+4c2820d377d1375e787bcef612f0c32c1427d183
diff --git a/ESP-IDF_Robot/build/CMakeFiles/git-data/grabRef.cmake b/ESP-IDF_Robot/build/CMakeFiles/git-data/grabRef.cmake
index a22234cc4..77b1fca59 100644
--- a/ESP-IDF_Robot/build/CMakeFiles/git-data/grabRef.cmake
+++ b/ESP-IDF_Robot/build/CMakeFiles/git-data/grabRef.cmake
@@ -18,7 +18,7 @@ set(HEAD_HASH)
 file(READ "/home/alex/github/ESP-Nodes/ESP-IDF_Robot/build/CMakeFiles/git-data/HEAD" HEAD_CONTENTS LIMIT 1024)
 
 string(STRIP "${HEAD_CONTENTS}" HEAD_CONTENTS)
-set(GIT_DIR "/home/alex/github/ESP-Nodes/.git")
+set(GIT_DIR "/home/alex/esp/v5.4.1/esp-idf/.git")
 # handle git-worktree
 if(EXISTS "${GIT_DIR}/commondir")
 	file(READ "${GIT_DIR}/commondir" GIT_DIR_NEW LIMIT 1024)
diff --git a/ESP-IDF_Robot/build/CMakeFiles/git-data/head-ref b/ESP-IDF_Robot/build/CMakeFiles/git-data/head-ref
index 7e3044976..b3440b61b 100644
--- a/ESP-IDF_Robot/build/CMakeFiles/git-data/head-ref
+++ b/ESP-IDF_Robot/build/CMakeFiles/git-data/head-ref
@@ -1 +1 @@
-c678bd753406bcff764c3d71ada9fb5318244f4f
+4c2820d377d1375e787bcef612f0c32c1427d183
diff --git a/ESP-IDF_Robot/main/rc.h b/ESP-IDF_Robot/main/rc.h
index 49eee9526..17db8e18e 100644
--- a/ESP-IDF_Robot/main/rc.h
+++ b/ESP-IDF_Robot/main/rc.h
@@ -104,18 +104,19 @@ static void update_pwm (int rc_x, int rc_y) {
         m.motor4_rpm_pcm = 0;
     }
     // Forward & Turn Left
-    if (x >= 1500 && y >= -8190 && y < 500) {
-        m.motor1_rpm_pcm = x;
-        m.motor2_rpm_pcm = 8190;
-        m.motor3_rpm_pcm = 0;
-        m.motor4_rpm_pcm = 0;
-    }
-    // Forward & Turn Right
-    if (y >= 1500 && x >= 1000 && x < 8190) {
-        m.motor1_rpm_pcm = 8190;
-        m.motor2_rpm_pcm = x;
-        m.motor3_rpm_pcm = 0;
-        m.motor4_rpm_pcm = 0;
+    else if (x >= 1500 && y >= -8190 && y < 500) {
+        if (y >= -8190 && y < 500) {
+            m.motor1_rpm_pcm = x;
+            m.motor2_rpm_pcm = 8190;
+            m.motor3_rpm_pcm = 0;
+            m.motor4_rpm_pcm = 0;
+        }
+        else if (y >= 1500) {
+            m.motor1_rpm_pcm = 8190;
+            m.motor2_rpm_pcm = x;
+            m.motor3_rpm_pcm = 0;
+            m.motor4_rpm_pcm = 0;
+        }
     }
     else {
         m.motor1_rpm_pcm = 0;