diff --git a/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/Debug.java b/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/Debug.java
index 899db88..ea87f08 100644
--- a/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/Debug.java
+++ b/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/Debug.java
@@ -20,7 +20,7 @@ public class Debug {
 	/**
 	 * Sets the size of the radius of a user selected point in km
 	 */
-	public static final float RADIUS = .010f;
+	public static final float RADIUS = .005f;
 
 	/**
 	 * Sets the amount of kilometers that a radius needs to be penetrated by an accuracy circle in km
diff --git a/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/IOIOTruckManager.java b/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/IOIOTruckManager.java
index 20c1932..a4c4fc4 100644
--- a/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/IOIOTruckManager.java
+++ b/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/IOIOTruckManager.java
@@ -31,8 +31,8 @@ public class IOIOTruckManager extends IOIOManager {
 	private static final String TAG = "IOIOTruckThread";
 	private Activity mActivity;
 	private IOIOTruckThreadListener mListener;
-	private int mLeftDriveValue;
-	private int mRightDriveValue;
+	private int mDriveValue;
+	private int mSteerValue;
 	private int mShifterValue;
 	private boolean mStatLedValue;
 	private TB6612FNGMotorDriver mLeftMotor;
@@ -60,8 +60,8 @@ public class IOIOTruckManager extends IOIOManager {
 	 */
 	private void arcadeDrive() throws ConnectionLostException {	
 		int left, right;	
-		left = (mLeftDriveValue + mRightDriveValue) /2;
-		right = (mLeftDriveValue - mRightDriveValue) / 2;
+		left = (mDriveValue + mSteerValue) /2;
+		right = (mDriveValue - mSteerValue) / 2;
 		
 		mLeftMotor.setSpeed(left);
 		mRightMotor.setSpeed(right + 1500);
@@ -71,7 +71,7 @@ public class IOIOTruckManager extends IOIOManager {
 	 * @return the mDriveValue
 	 */
 	public synchronized int getDriveValue() {
-		return mLeftDriveValue;
+		return mDriveValue;
 	}
 
 	/**
@@ -85,7 +85,7 @@ public class IOIOTruckManager extends IOIOManager {
 	 * @return the mSteerValue
 	 */
 	public synchronized int getSteerValue() {
-		return mRightDriveValue;
+		return mSteerValue;
 	}
 	
 	/**
@@ -155,7 +155,7 @@ public class IOIOTruckManager extends IOIOManager {
 	 * @param mDriveValue the mDriveValue to set
 	 */
 	public synchronized void setDriveValue(int mDriveValue) {
-		this.mLeftDriveValue = mDriveValue;
+		this.mDriveValue = mDriveValue;
 	}
 
 	/**
@@ -176,7 +176,7 @@ public class IOIOTruckManager extends IOIOManager {
 	 * @param mSteerValue the mSteerValue to set
 	 */
 	public synchronized void setSteerValue(int mSteerValue) {
-		this.mRightDriveValue = mSteerValue;
+		this.mSteerValue = mSteerValue;
 	}
 
 	/**
diff --git a/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/IOIOTruckValues.java b/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/IOIOTruckValues.java
index 50e96ff..e49537f 100644
--- a/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/IOIOTruckValues.java
+++ b/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/IOIOTruckValues.java
@@ -59,13 +59,13 @@ public class IOIOTruckValues extends IOIOValues {
 	 * drive the truck forward
 	 * PWM value
 	 */
-	public static final int DRIVE_FORWARD = 1300;
+	public static final int DRIVE_FORWARD = 1000;
 	
 	/**
 	 * drive the truck in reverse
 	 * PWM value
 	 */
-	public static final int DRIVE_REVERSE = 1700;
+	public static final int DRIVE_REVERSE = 2000;
 
 	/**
 	 * IOIO port for the "shifter"
@@ -87,5 +87,4 @@ public class IOIOTruckValues extends IOIOValues {
 	 */
 	public static final int STEER_LEFT = 1300;
 
-
-}
+}
\ No newline at end of file
diff --git a/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/NavigationActivity.java b/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/NavigationActivity.java
index ca8e09d..cd8db87 100644
--- a/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/NavigationActivity.java
+++ b/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/NavigationActivity.java
@@ -11,6 +11,7 @@ import android.os.Bundle;
 import android.os.PowerManager;
 import android.os.PowerManager.WakeLock;
 import android.support.v4.app.FragmentActivity;
+import android.util.Log;
 import android.view.View;
 import android.view.View.OnClickListener;
 import android.widget.Button;
@@ -263,13 +264,18 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
 		 */
 		if(mPoint != null)
 			if(GeoUtils.isIntersecting(point, (float) (accuracy / 1E3), mPoint, Debug.RADIUS, Debug.FUDGE_FACTOR)) {
+				Log.v(TAG, "Dest Reached, Stopping");
 				mIOIOManager.setDriveValue(IOIOTruckValues.DRIVE_STOP);
 				updateGoButton(true);
 				updateLog(R.string.dest_reached);
-			} else 
+			} else {
+				Log.v(TAG, "Driving Forward");
 				mIOIOManager.setDriveValue(IOIOTruckValues.DRIVE_FORWARD);
-		else 
+			}
+		else{
+			Log.v(TAG, "Lost GPS signal, stopping");
 			mIOIOManager.setDriveValue(IOIOTruckValues.DRIVE_STOP);
+		}
 
 	}
 	
diff --git a/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/TB6612FNGMotorDriver.java b/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/TB6612FNGMotorDriver.java
index a216a69..e436f7d 100644
--- a/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/TB6612FNGMotorDriver.java
+++ b/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/TB6612FNGMotorDriver.java
@@ -36,6 +36,7 @@ public class TB6612FNGMotorDriver {
 	 * @author ricky barrette
 	 */
 	public TB6612FNGMotorDriver(IOIO ioio, int pwmPin, int in1Pin, int in2Pin) throws ConnectionLostException {
+		Log.v(TAG, "Initializing TB6612FNG Motor Driver on ports: (pwm) "+ pwmPin +", (in1) "+ in1Pin +", (in2) "+in2Pin);
 		mPWM = ioio.openPwmOutput(pwmPin, PWM_FREQUENCY);
 		mPWM.setDutyCycle(0);
 		mIn1 = ioio.openDigitalOutput(in1Pin, false);
@@ -49,8 +50,6 @@ public class TB6612FNGMotorDriver {
 	 * @author ricky barrette
 	 */
 	public void setSpeed(float speed) throws ConnectionLostException {
-		if(Debug.DEBUG)
-			Log.v(TAG, "setSpeed(float): "+speed);
 		if(speed == 0) {
 			//stop
 			mIn1.write(false);
@@ -74,8 +73,6 @@ public class TB6612FNGMotorDriver {
 	 * @author ricky barrette
 	 */
 	public void setSpeed(int speed) throws ConnectionLostException {
-		if(Debug.DEBUG)
-			Log.v(TAG, "setSpeed(int): "+speed);
 		if(speed == 1500)
 			setSpeed(0f);
 		else if(speed < 1500)