diff --git a/remote_control/roborally.py b/remote_control/roborally.py
index bcae352..9faa7bf 100644
--- a/remote_control/roborally.py
+++ b/remote_control/roborally.py
@@ -32,7 +32,7 @@ from collections import OrderedDict
 
 from argparse import ArgumentParser
 
-MSGLEN = 32
+MSGLEN = 64
 def myreceive(sock):
     chunks = []
     bytes_recd = 0
@@ -111,8 +111,8 @@ class RemoteController:
 
         self.anim_stopped = False
 
-        #self.robots = [Robot(11, '192.168.1.101'), Robot(14, '192.168.1.103')]
-        self.robots = [Robot(11, '192.168.1.101')]
+        self.robots = [Robot(11, '192.168.1.11'), Robot(14, '192.168.1.14')]
+        #self.robots = [Robot(11, '192.168.1.101')]
         #self.robots = [Robot(15, '192.168.1.102')]
         #self.robots = [Robot(id, ip)]
 
@@ -326,7 +326,7 @@ class RemoteController:
             while connected:
                 try:
                     data = myreceive(clientsocket)
-                    print(data)
+                    print("data received: ", data)
 
                     inputs = data.split(b',')
                     cmd = inputs[0]
@@ -386,14 +386,16 @@ class RemoteController:
             robot = self.robot_ids[robot_id] # get robot to be controlled
             grid_pos = robot.grid_pos   # grid position of the robot
 
+            print("old grid pos for robot {}: {}".format(robot_id, grid_pos))
+
             # compute new grid position and orientation
             if cmd == 'forward':
-                new_x = int(grid_pos[0] + 1 * np.cos(grid_pos[2]))
-                new_y = int(grid_pos[1] + 1 * np.sin(grid_pos[2]))
+                new_x = int(round(grid_pos[0] + 1 * np.cos(grid_pos[2])))
+                new_y = int(round(grid_pos[1] + 1 * np.sin(grid_pos[2])))
                 new_angle = grid_pos[2]
             elif cmd == 'backward':
-                new_x = int(grid_pos[0] - 1 * np.cos(grid_pos[2]))
-                new_y = int(grid_pos[1] - 1 * np.sin(grid_pos[2]))
+                new_x = int(round(grid_pos[0] - 1 * np.cos(grid_pos[2])))
+                new_y = int(round(grid_pos[1] - 1 * np.sin(grid_pos[2])))
                 new_angle = grid_pos[2]
             elif cmd == 'turn left':
                 new_x = grid_pos[0]
@@ -410,9 +412,11 @@ class RemoteController:
             else:
                 print("unknown command!")
                 sys.exit(1)
+            if new_x != grid_pos[0] and new_y != grid_pos[1]:
+                print("problem detected!")
 
             grid_pos = (new_x, new_y, new_angle)
-            print("new grid pos for robot {}: {}".format(robot_id, grid_pos))
+            print("new grid pos for robot {}: {}\n".format(robot_id, grid_pos))
 
             self.target = np.array((0.25 * grid_pos[0], 0.25 * grid_pos[1], grid_pos[2]))
 
@@ -468,7 +472,7 @@ class RemoteController:
                     angles_unwrapped = np.unwrap([x_pred[2], self.target[2]])   # unwrap angle to avoid jump in data
                     error_ang = np.abs(angles_unwrapped[0] - angles_unwrapped[1])
                     #print("error pos = ", error_pos)
-                    print("error_pos = {}, error_ang = {}".format(error_pos, error_ang))
+                    #print("error_pos = {}, error_ang = {}".format(error_pos, error_ang))
 
                     if error_pos > 0.075 or error_ang > 0.35:
                         # solve mpc open loop problem