diff --git a/robot.go b/robot.go
index 1726ec7..25a4c29 100644
--- a/robot.go
+++ b/robot.go
@@ -167,9 +167,11 @@ type Instruction struct {
 func (r *Robot) checkCollisions(g *game, move_vector v.Vector2d) (bool, v.Point2d, *Robot) {
 	collision := false
 	intersection_point := v.Point2d{X: 0, Y: 0}
+	bot_size := float32(5.0)
+	bot_polygon := v.OrientedSquare(r.Position, r.Heading, bot_size)
 
 	// Check Walls
-	r_walls := v.AABB2d{A: v.Point2d{X: 0, Y: 0}, B: v.Point2d{X: g.width, Y: g.height}}
+	r_walls := v.AABB2d{A: v.Point2d{X: bot_size, Y: bot_size}, B: v.Point2d{X: g.width - bot_size, Y: g.height - bot_size}}
 	collision, _, pos := v.RectIntersection(r_walls, r.Position, move_vector)
 	if collision {
 		return collision, pos, nil
@@ -181,25 +183,25 @@ func (r *Robot) checkCollisions(g *game, move_vector v.Vector2d) (bool, v.Point2
 			if bot.Id == r.Id {
 				continue
 			}
-			player_rect := v.RectFromPoint(bot.Position, 5)
-			collision, _, pos := v.RectIntersection(player_rect, r.Position, move_vector)
-			if collision {
-				return collision, pos, bot
+			player_rect := v.OrientedSquare(bot.Position, bot.Heading, bot_size)
+			collision, move_collision, translation := v.PolyPolyIntersection(
+				bot_polygon, move_vector, player_rect)
+			if collision || move_collision {
+				return true, r.Position.Add(move_vector).Add(translation.Scale(1.2)), bot
 			}
 		}
 	}
 
 	// Check Obstacles
 	for _, obj := range g.obstacles {
-		bot_polygon := v.OrientedSquare(r.Position, r.Heading, 5)
-		collision, move_collition, translation := v.PolyPolyIntersection(
+		collision, move_collision, translation := v.PolyPolyIntersection(
 			bot_polygon, move_vector, obj.Bounds.ToPolygon())
 
-		if collision || move_collition {
-			log.Printf(" COLLISION: %v %v %v\n", collision, move_collition, translation)
-			log.Printf(" DETAILS: %v %v\n", r.Position, move_vector)
-			log.Printf(" INPUT: %v %v %v\n", bot_polygon, obj.Bounds.ToPolygon(), obj.Bounds)
-			return (collision || move_collition), r.Position.Add(move_vector).Add(translation.Scale(1.2)), nil
+		if collision || move_collision {
+			// log.Printf(" COLLISION: %v %v %v\n", collision, move_collition, translation)
+			// log.Printf(" DETAILS: %v %v\n", r.Position, move_vector)
+			// log.Printf(" INPUT: %v %v %v\n", bot_polygon, obj.Bounds.ToPolygon(), obj.Bounds)
+			return true, r.Position.Add(move_vector).Add(translation.Scale(1.1)), nil
 		}
 	}
 
@@ -217,9 +219,12 @@ func (r *Robot) Tick(g *game) {
 		if r.Speed > r.TargetSpeed {
 			r.Speed = r.TargetSpeed
 		}
-
 	} else if float32(math.Abs(float64(r.Speed-r.TargetSpeed))) > v.Epsilon {
 		r.Speed -= (r.Stats.Acceleration * delta)
+		// Cap reverse to 1/2 speed
+		if r.Speed < (-0.5 * r.TargetSpeed) {
+			r.Speed = (-0.5 * r.TargetSpeed)
+		}
 	} else {
 		r.Speed = r.TargetSpeed
 	}
@@ -267,19 +272,18 @@ func (r *Robot) Tick(g *game) {
 			if hit_robot != nil {
 				hit_robot.Health -= int(r.Speed / 10.0)
 				hit_robot.Speed = (hit_robot.Speed * 0.1)
-				hit_robot.Heading = r.Heading
+				// hit_robot.Heading = r.Heading
 			}
 
 			if r.Position != intersection_point {
 				move_by := intersection_point.Sub(r.Position)
-				// move_dist := move_by.Scale(float32(math.Floor(float64(move_by.Mag()-3.0))) / move_by.Mag())
 				r.Position = r.Position.Add(move_by)
 			}
 
 			r.Health -= int(r.Speed / 10.0)
 			r.MoveTo = &r.Position
-			r.Speed = (r.Speed * 0.1)
-			r.Heading = r.Heading.Scale(-1.0)
+			r.Speed = (r.Speed * -0.5)
+			// r.Heading = r.Heading.Scale(-1.0)
 		} else {
 			r.Position = r.Position.Add(move_vector)
 			if new_heading.Mag() > 0 {