diff --git a/src/C++/Driver/src/main.cpp b/src/C++/Driver/src/main.cpp
index 029f252..28a0957 100644
--- a/src/C++/Driver/src/main.cpp
+++ b/src/C++/Driver/src/main.cpp
@@ -14,8 +14,8 @@ int main()
 	robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
 	usleep(1 * 1000 * 1000);
 	cout << "Enter commando";
-	usleep(30 * 1000 * 1000);
 	thread mv(movement);
+	usleep(30 * 1000 * 1000);
 }
 
 int checkCenterCliff()
@@ -35,15 +35,15 @@ int movement()
 
 		if (text == 1)
 		{
-			robot.goStraight(10);
+			robot.goStraight(1);
 		}
 		if (text == 2)
 		{
-			robot.doRotation(90);
+			robot.doRotation(0.25);
 		}
 		if (text == 3)
 		{
-			robot.doRotation(90);
+			robot.doRotation(-0.25);
 		}
 		else
 		{