diff --git a/remote_control/position_controller.py b/remote_control/position_controller.py
index 143112b..2d8f3f0 100644
--- a/remote_control/position_controller.py
+++ b/remote_control/position_controller.py
@@ -52,16 +52,16 @@ class Track:
     def __init__(self):
         # ids in clockwise direction
         self.inner = OrderedDict()
-        self.inner[5] = None
-        self.inner[8] = None
-        self.inner[7] = None
         self.inner[1] = None
+        self.inner[2] = None
+        self.inner[3] = None
+        self.inner[4] = None
 
         self.outer = OrderedDict()
-        self.outer[11] = None
-        self.outer[2] = None
-        self.outer[4] = None
-        self.outer[0] = None
+        self.outer[5] = None
+        self.outer[6] = None
+        self.outer[7] = None
+        self.outer[8] = None
 
         self.track_complete = False
 
@@ -369,8 +369,9 @@ class RemoteController:
         markers_out = self.track.outer.values()
 
         # find targets:
+        lamb = 0.3
         for i in range(0,4):
-            p = (np.array(markers_in[i]) + np.array(markers_out[i]))/2.0
+            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)
 
         auto_control = False