diff --git a/remote_control/position_controller.py b/remote_control/position_controller.py
index 2d8f3f0..472a9f6 100644
--- a/remote_control/position_controller.py
+++ b/remote_control/position_controller.py
@@ -124,14 +124,14 @@ def f_ode(t, x, u):
 class RemoteController:
     def __init__(self):
 
-        self.robots = [Robot(15, '192.168.1.103')]
+        self.robots = [Robot(11, '192.168.1.103')]
         #self.robots = [Robot(14, '192.168.1.102')]
 
         self.robot_ids = {}
         for r in self.robots:
             self.robot_ids[r.id] = r
 
-        obst = [Obstacle(12, 0.275), Obstacle(10, 0.275), Obstacle(13, 0.275), Obstacle(14, 0.275)]
+        obst = [Obstacle(12, 0.275), Obstacle(10, 0.275), Obstacle(14, 0.275), Obstacle(15, 0.275)]
 
         self.obstacles = {}
         for r in obst:
@@ -369,10 +369,18 @@ class RemoteController:
         markers_out = self.track.outer.values()
 
         # find targets:
-        lamb = 0.3
+        lamb = 0.2
+        j = 0
         for i in range(0,4):
             p = np.array(markers_in[i]) + lamb * (np.array(markers_out[i]) - np.array(markers_in[i]))
-            targets[i] = (p[0],p[1], 0.0)
+            targets[j] = (p[0],p[1], 0.0)
+            j += 1
+            if i < 3:
+                mean_in = (np.array(markers_in[i]) + np.array(markers_in[i+1])) * 0.5
+                mean_out = (np.array(markers_out[i]) + np.array(markers_out[i+1])) * 0.5
+                mean = mean_in + (1.0 - lamb) * (mean_out - mean_in)
+                targets[j] = (mean[0], mean[1], 0.0)
+                j += 1
 
         auto_control = False
         current_target = 0
@@ -405,6 +413,12 @@ class RemoteController:
                         #self.target = (-0.5,0.5, 0.0)
                         self.target = targets[3]
                     elif event.key == pygame.K_5:
+                        self.target = targets[4]
+                    elif event.key == pygame.K_6:
+                        self.target = targets[5]
+                    elif event.key == pygame.K_7:
+                        self.target = targets[6]
+                    elif event.key == pygame.K_SPACE:
                         auto_control = not auto_control
                         if auto_control:
                             self.target = targets[current_target]
@@ -416,7 +430,7 @@ class RemoteController:
                 if auto_control:
                     if np.linalg.norm(x_pred[0:2]-np.array(self.target[0:2])) < 0.3:
                         print("close to target!")
-                        current_target = (current_target + 1) % 4
+                        current_target = (current_target + 1) % 7
                         self.target = targets[current_target]
                         print("new target = {}".format(current_target))