diff --git a/src/main.py b/src/main.py
index 355eaff..eed4e18 100644
--- a/src/main.py
+++ b/src/main.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 import uuid
 import paho.mqtt.client as mqtt
-from planet import Direction, Planet
-from communication import Mode, Communication
+from planet import Direction
+from communication import Mode, Command, Communication
 from move import Move
 from time import sleep
 
@@ -30,6 +30,11 @@ def run():
     while(communication.status() is not Mode.COMPLETE):
         communication.update(move.getstats())
         # correct odometry right here otherwise list of edges will be incorrect
+        if(communication.planet.getcurnode() == communication.target):
+            communication._status = Mode.COMPLETE
+            communication.encode_message(Command.TARGET, None)
+            communication.encode_message(Command.COMPLETE, None)
+            break
         move.setcurdir(communication.getdir())
         communication.process_edges(move.getstationedges())
         if(communication.status() is Mode.GOTOSTATION or communication.status() is Mode.TARGET):  # should be triggered if current station has no unexplored edges
@@ -38,7 +43,7 @@ def run():
                 move.reset()
                 move.resetwheels()
                 move.traversetonextstation(True)
-                move.setcurdir(communication.planet._planetmap[communication.navto[0][0]][communication.navto[0][1]])
+                move.setcurdir((None, (communication.planet._planetmap[communication.navto[0][0]][communication.navto[0][1]][1] + 180)%360))
                 communication.update(None)
                 communication.navto.pop(0)
             if(communication.status() == Mode.TARGET):
diff --git a/src/move.py b/src/move.py
index 1fa7156..aed6283 100644
--- a/src/move.py
+++ b/src/move.py
@@ -140,8 +140,11 @@ class Move:
             self._sensor.getcolor()
             if(self._sensor.lastcolor is not None):
                 break
-            self._wheel_l.speed_set(capat100(self._sensor.edgebrightness/2 - self._sensor.getbrightness()/2)+self.defaultspeed)
-            self._wheel_r.speed_set(capat100(self._sensor.getbrightness()/2 - self._sensor.edgebrightness/2)+self.defaultspeed)
+            try:
+                self._wheel_l.speed_set(capat100(self._sensor.edgebrightness/2 - self._sensor.getbrightness()/2)+self.defaultspeed)
+                self._wheel_r.speed_set(capat100(self._sensor.getbrightness()/2 - self._sensor.edgebrightness/2)+self.defaultspeed)
+            except OSError:
+                print("ERROR: Invalid motor speed value")
             if(not isknownstation):
                 self._odometry.pos_update((self._wheel_l.getmovement(), self._wheel_r.getmovement()))
         self._wheel_l.stop()
@@ -168,8 +171,11 @@ class Move:
                 self._sensor.getcolor()
                 if(self._sensor.lastcolor is not None):
                     break
-                self._wheel_l.speed_set(capat100(self._sensor.edgebrightness/2 - self._sensor.getbrightness()/2)+self.defaultspeed)
-                self._wheel_r.speed_set(capat100(self._sensor.getbrightness()/2 - self._sensor.edgebrightness/2)+self.defaultspeed)
+                try:
+                    self._wheel_l.speed_set(capat100(self._sensor.edgebrightness/2 - self._sensor.getbrightness()/2)+self.defaultspeed)
+                    self._wheel_r.speed_set(capat100(self._sensor.getbrightness()/2 - self._sensor.edgebrightness/2)+self.defaultspeed)
+                except OSError:
+                    print("ERROR: Invalid motor speed value")
                 if(not isknownstation):
                     self._odometry.pos_update((self._wheel_l.getmovement(), self._wheel_r.getmovement()))
         self._wheel_l.turnbyamount(200, 90)