diff --git a/Main.ino b/Main.ino
index 9c34bdd..11d52ee 100644
--- a/Main.ino
+++ b/Main.ino
@@ -138,7 +138,7 @@ void loop()
     case State::Turn90Blue:
       my_IO.setDirWithAngularSpeed(-90.0f);
 
-      if(my_IO.getAngle(Axes::Z) < -88.0f)
+      if(my_IO.getAngle(Axes::Z) < -80.0f)
       {
         actual_state = State::ForwardToSceneEdge;
       }
@@ -147,14 +147,14 @@ void loop()
     case State::Turn90Yellow:
       my_IO.setDirWithAngularSpeed(90.0f);
 
-      if(my_IO.getAngle(Axes::Z) >= 88.0f)
+      if(my_IO.getAngle(Axes::Z) >= 80.0f)
       {
         actual_state = State::ForwardToSceneEdge;
       }
       break;
 
     case State::ForwardToSceneEdge:
-      my_IO.setSpeed(1024.0f);
+      my_IO.setSpeed(1100.0f);
 
       if(my_IO.getAngle(Axes::Y) > 5.0f)
       {