diff --git a/Control/controller.cpp b/Control/controller.cpp
index 67580bf..7dbeb13 100644
--- a/Control/controller.cpp
+++ b/Control/controller.cpp
@@ -23,6 +23,7 @@ void EgoCarController::registerKeyboardCallbacks() {
     if (keyStates_.find(event.getKeySym()) != keyStates_.end()) {
       keyStates_[event.getKeySym()] = event.keyDown();
     }
+    if (event.isShiftPressed()) {car_.accelerate(10.0, 1);}
   });
 }
 
@@ -32,6 +33,8 @@ void EgoCarController::handleKeyboardInput() {
   } else if (keyStates_["Down"]) {
     car_.accelerate(3.0, -1);
   } else if (keyStates_["space"]) {
+    car_.accelerate(-15.0, 1);
+  } else {
     car_.accelerate(0.0, 1);
   }
 
diff --git a/Objects/car.cpp b/Objects/car.cpp
index 183c131..813d058 100644
--- a/Objects/car.cpp
+++ b/Objects/car.cpp
@@ -16,8 +16,8 @@ Car::Car()
       control_index(0),
       sinNegAngle(0),
       cosNegAngle(0),
-      air_resistance(0.01),
-      tire_friction(0.1) {}
+      air_resistance(0.0),
+      tire_friction(0.0) {}
 
 Car::Car(
     Vect3 setPosition, Vect3 setDimensions, Color setColor,
@@ -35,8 +35,8 @@ Car::Car(
   velocity = 0;
   control_index = 0;
   rollingInstance = 0.5;
-  air_resistance = 0.01;
-  tire_friction = 0.1;
+  air_resistance = 0.0;
+  tire_friction = 0.0;
 }
 
 void Car::renderBottom(pcl::visualization::PCLVisualizer::Ptr& viewer) const {
@@ -113,11 +113,11 @@ void Car::render(pcl::visualization::PCLVisualizer::Ptr& viewer) const {
 }
 
 void Car::accelerate(float acc, int dir) {
-  acceleration = acc * dir - air_resistance * velocity * abs(velocity) - tire_friction * sign(velocity);
+  acceleration = acc * dir;
 }
 
 void Car::steer(float s) {
-  steering = s / (1 + abs(velocity));
+  steering = s;
 }
 
 void Car::control(const std::vector<Control>& c) {
diff --git a/Scene/scene.cpp b/Scene/scene.cpp
index bb876e9..82786da 100644
--- a/Scene/scene.cpp
+++ b/Scene/scene.cpp
@@ -88,7 +88,7 @@ Scene::Scene(pcl::visualization::PCLVisualizer::Ptr& viewer) {
 
 Control Scene::randomControl(std::mt19937& gen, Car& car) {
   std::uniform_real_distribution<> disTime(1, 9);
-  std::uniform_real_distribution<> disAcceleration(-5, 2);
+  std::uniform_real_distribution<> disAcceleration(-2, 1);
   std::uniform_real_distribution<> disSteering(-0.15, 0.15);
 
   Vect3 currentPosition = car.getPosition();
diff --git a/Toolkit/tools.cpp b/Toolkit/tools.cpp
index 7c67ee4..d12b555 100644
--- a/Toolkit/tools.cpp
+++ b/Toolkit/tools.cpp
@@ -60,7 +60,7 @@ radarMarker Tools::radarSense(Car& car, Car ego, pcl::visualization::PCLVisualiz
               ego.getPosition().x + marker.rho * cos(marker.phi) + marker.rhoDot * cos(marker.phi),
               ego.getPosition().y + marker.rho * sin(marker.phi) + marker.rhoDot * sin(marker.phi),
               3.0
-              ), 1, 0, 1, car.getName() + "_rhoDot");
+              ), 1, 0, 1, false, car.getName() + "_rhoDot");
   }
 
   MeasurementPackage measPackage;
@@ -84,7 +84,7 @@ void Tools::trackerResults(Car car, pcl::visualization::PCLVisualizer::Ptr &view
       pcl::PointXYZ(tracker.x_[0], tracker.x_[1],3.5),
       pcl::PointXYZ(tracker.x_[0] + tracker.x_[2] * cos(tracker.x_[3]),
                     tracker.x_[1] + tracker.x_[2] * sin(tracker.x_[3]),3.5),
-      0, 1, 0, car.getName()+"_tracker_vel");
+      0, 1, 0, false, car.getName()+"_tracker_vel");
 
   if (time > 0) {
     double dt = time / steps;
@@ -92,7 +92,7 @@ void Tools::trackerResults(Car car, pcl::visualization::PCLVisualizer::Ptr &view
     while (ct <= time) {
       tracker.Prediction(dt);
       viewer->addSphere(pcl::PointXYZ(tracker.x_[0], tracker.x_[1], 3.5),
-                        0.5, 0, 1, 0,car.getName() + "_ukf" + std::to_string(ct));
+                        0.5, 0, 1, 0, car.getName() + "_ukf" + std::to_string(ct));
       viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY,
                                           1.0 - 0.8 * (ct / time),
                                           car.getName() + "_ukf" + std::to_string(ct));
@@ -100,7 +100,7 @@ void Tools::trackerResults(Car car, pcl::visualization::PCLVisualizer::Ptr &view
           pcl::PointXYZ(tracker.x_[0], tracker.x_[1],3.5),
           pcl::PointXYZ(tracker.x_[0] + tracker.x_[2] * cos(tracker.x_[3]),
                         tracker.x_[1] + tracker.x_[2] * sin(tracker.x_[3]), 3.5),
-          0, 1, 0, car.getName() + "_ukf_vel"+std::to_string(ct));
+          0, 1, 0, false, car.getName() + "_ukf_vel"+std::to_string(ct));
       viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY,
                                           1.0-0.8*(ct/time),
                                           car.getName() + "_ukf_vel"+std::to_string(ct));
diff --git a/main.cpp b/main.cpp
index 7b91071..4be9bc5 100644
--- a/main.cpp
+++ b/main.cpp
@@ -12,7 +12,7 @@ int main() {
   viewer->addCoordinateSystem(1.0);
   viewer->initCameraParameters();
   int* screenSize = viewer->getRenderWindow()->GetScreenSize();
-  viewer->setSize(screenSize[0], screenSize[1]);
+  viewer->setSize(1280, 780);
 
   viewer->setCameraPosition(50, 50, 50, // Camera position
                             0, 0, 0, // Focal point (origin)