diff --git a/src/simulator/Character.java b/src/simulator/Character.java
index 1a38cd5..b1376ba 100644
--- a/src/simulator/Character.java
+++ b/src/simulator/Character.java
@@ -18,8 +18,9 @@ public class Character extends Rectangle {
     private static final int VELOCITY_SOURCE_Y = 320;
 
     private static final int MAX_SPEED = 120;
-    private static final int MAX_ACCELERATION = 2;
+    private static final int MAX_ACCELERATION = 6;
     private static final int FRICTION = 3;
+    private static final double POSITION_RANDOM_FACTOR = 3.6;
 
     private final PIDSettings pidSettings;
     private final PIDController pidController;
@@ -121,18 +122,20 @@ private void runPosition() {
                 pidSettings.getWaitTime() * MILLISECONDS_IN_SECOND && pidController.isOnTarget());
         int moveValue = pidController.calculate(this.x, Setpoint.getInstance().x) +
                 feedForwardController.calculate(this.x, Setpoint.getInstance().x);
-        moveValue = (int) normalizeSpeed(moveValue);
+        moveValue += (Math.random() - 0.5) * POSITION_RANDOM_FACTOR * Math.pow(moveValue, 2) / MAX_SPEED;
         if (Math.abs(moveValue - lastSpeed) > MAX_ACCELERATION) {
             if (lastSpeed > moveValue) moveValue = (int) (lastSpeed - MAX_ACCELERATION);
             if (lastSpeed < moveValue) moveValue = (int) (lastSpeed + MAX_ACCELERATION);
         }
+        moveValue = (int) normalizeSpeed(moveValue);
         this.translate(moveValue, 0);
         lastSpeed = moveValue;
     }
 
     private void runVelocity() {
-        int moveValue = pidController.calculate(lastSpeed, Setpoint.getInstance().x) +
-                feedForwardController.calculate(lastSpeed, Setpoint.getInstance().x);
+        int moveValue = pidController.calculate(lastSpeed, Setpoint.getInstance().x);
+        double feedForward = feedForwardController.calculate(lastSpeed, Setpoint.getInstance().x);
+        moveValue += feedForward * Math.pow(Math.E, -(Math.pow(feedForward / MAX_SPEED, 2) / Math.pow(MAX_SPEED, 0.25)));
         moveValue = (int) normalizeSpeed(moveValue);
         if (Math.abs(moveValue - lastSpeed) > MAX_ACCELERATION) {
             if (lastSpeed > moveValue) moveValue = (int) (lastSpeed - MAX_ACCELERATION);
@@ -143,10 +146,11 @@ private void runVelocity() {
 
     private double normalizeSpeed(double speed) {
         if (speed != 0) {
-            if (speed > 0) speed -= FRICTION;
-            if (speed < 0) speed += FRICTION;
+            if (speed > FRICTION) speed -= FRICTION;
+            else if (speed < -FRICTION) speed += FRICTION;
+            else return 0;
             if (Math.abs(speed) > MAX_SPEED) speed = (int) (MAX_SPEED * Math.signum(speed));
-        } else if (Math.abs(speed) < FRICTION) speed = 0;
+        }
         return speed;
     }
 }
diff --git a/src/simulator/Window.java b/src/simulator/Window.java
index b8536fd..beb69bf 100644
--- a/src/simulator/Window.java
+++ b/src/simulator/Window.java
@@ -106,7 +106,6 @@ private void delay(double seconds) {
         long targetTime = (long) (System.currentTimeMillis() + seconds * MILLISECONDS_IN_SECOND);
         while (targetTime > currentTime) {
             currentTime = System.currentTimeMillis();
-            repaint(character);
         }
     }
 
diff --git a/src/simulator/control/FeedForwardController.java b/src/simulator/control/FeedForwardController.java
index 2a602f3..610b9b6 100644
--- a/src/simulator/control/FeedForwardController.java
+++ b/src/simulator/control/FeedForwardController.java
@@ -63,7 +63,6 @@ public int calculate(double source, double setpoint) {
         double error = setpoint - source;
         double targetDerivative = (setpoint - previousTarget) / Window.PERIODIC_FRAME;
         previousTarget = setpoint;
-        double staticVal;
         if (ControlType.getInstance().getSelectedIndex() == ControlType.Types.VELOCITY.index) {
             return (int) (kS + kV * setpoint + kA * targetDerivative);
         } else {
diff --git a/src/simulator/information/ErrorGraph.java b/src/simulator/information/ErrorGraph.java
index cac6f1c..ad1994b 100644
--- a/src/simulator/information/ErrorGraph.java
+++ b/src/simulator/information/ErrorGraph.java
@@ -4,6 +4,7 @@
 
 import javax.swing.*;
 import java.awt.*;
+import java.awt.geom.Line2D;
 import java.util.ArrayList;
 
 public class ErrorGraph extends JPanel {