diff --git a/kuukar/kuukar_motion.py b/kuukar/kuukar_motion.py
index 0bc4a3b..694a597 100644
--- a/kuukar/kuukar_motion.py
+++ b/kuukar/kuukar_motion.py
@@ -105,8 +105,11 @@ class motion:
                 self.__roam_handle()
 
     def __roam_handle(self):
-        sensitivity = 35
-        self.drive(23)
+        sensitivity = 65
+        turn_speed = 30
+        drive_speed = 30
+
+        self.drive(drive_speed)
         f_dist = self.sensors.sonar_get_distance(1)
         if 0 < f_dist < sensitivity:  # Close to collision, turn the vehicle
             print("collision")
@@ -115,24 +118,24 @@ class motion:
             if l_dist < sensitivity:  # Left side is blocked
                 if r_dist < sensitivity:  # Both side are blocked, do a full 180deg turn
                     print("full turn")
-                    self.turn(30, 2*TURN_TIME_FS_90DEG_MS)
+                    self.turn(30, 2)
                     self.drive(23)
                 else:
                     # Right Side is Free, turn right
                     print("right turn")
-                    self.turn(30, TURN_TIME_FS_90DEG_MS)
-                    self.drive(23)
+                    self.turn(turn_speed, 1)
+                    self.drive(drive_speed)
             elif r_dist < sensitivity:  # Right side is blocked, left side is free, turn left
                 print("right left")
-                self.turn(-30, TURN_TIME_FS_90DEG_MS)
-                self.drive(23)
+                self.turn(-turn_speed, 1)
+                self.drive(drive_speed)
             else:  # Both Side are free, randomize a direction
                 print("turn random")
                 right: bool = randint(0, 1)
                 if right:
-                    self.turn(30, TURN_TIME_FS_90DEG_MS)
-                    self.drive(23)
+                    self.turn(turn_speed, 1)
+                    self.drive(drive_speed)
                 else:
-                    self.turn(-23, TURN_TIME_FS_90DEG_MS)
-                    self.drive(30)
+                    self.turn(-turn_speed, 1)
+                    self.drive(drive_speed)
         time.sleep(0.5)
\ No newline at end of file