diff --git a/ADIS_Sumo/Sumo/Application.c b/ADIS_Sumo/Sumo/Application.c
index bcb2f98..5affd20 100644
--- a/ADIS_Sumo/Sumo/Application.c
+++ b/ADIS_Sumo/Sumo/Application.c
@@ -389,19 +389,20 @@ static void StateMachine(bool buttonPress) {
 //			McuShell_SendStr((unsigned char*)"\r\n", McuESP32_GetTxToESPStdio()->stdOut);
     		appState = APP_STATE_IDLE;
     		mazeFailure=0;
-    	}else if(!LF_IsFollowing() && !MAZE_IsSolved() && mazeFailure < 5){
+    	}else if(!LF_IsFollowing() && !MAZE_IsSolved()){// && mazeFailure < 5){
     		// failed
-    		mazeFailure++;
+//    		mazeFailure++;
     		MAZE_ClearSolution();
     		DRV_SetSpeed(0, 0);
     		DRV_SetMode(DRV_MODE_SPEED);
 			LF_StartFollowing();
-    	}else if(!LF_IsFollowing() && !MAZE_IsSolved() && mazeFailure >= 5){
-    		BUZ_Beep(1000, 1000);
-    		McuShell_SendStr((unsigned char*)"mqtt publish \"/mobile/status/mode/\" \"FAILURE\"\r\n", McuESP32_GetTxToESPStdio()->stdOut);
-//			McuShell_SendStr((unsigned char*)"\r\n", McuESP32_GetTxToESPStdio()->stdOut);
-			appState = APP_STATE_IDLE;
     	}
+//    	}else if(!LF_IsFollowing() && !MAZE_IsSolved() && mazeFailure >= 5){
+//    		BUZ_Beep(1000, 1000);
+//    		McuShell_SendStr((unsigned char*)"mqtt publish \"/mobile/status/mode/\" \"FAILURE\"\r\n", McuESP32_GetTxToESPStdio()->stdOut);
+////			McuShell_SendStr((unsigned char*)"\r\n", McuESP32_GetTxToESPStdio()->stdOut);
+//			appState = APP_STATE_IDLE;
+//    	}
     	if(MAZE_GetPresentCount() != presentCnt){
     		presentCnt = MAZE_GetPresentCount();
     		//publish
diff --git a/ADIS_Sumo/Sumo/Turn.c b/ADIS_Sumo/Sumo/Turn.c
index 196809b..f725731 100644
--- a/ADIS_Sumo/Sumo/Turn.c
+++ b/ADIS_Sumo/Sumo/Turn.c
@@ -63,11 +63,11 @@
     #define TURN_STEPS_POST_LINE_TIMEOUT_MS 500
     #define TURN_STEPS_STOP_TIMEOUT_MS      150
   #elif PL_IS_INTRO_ZUMO_K22 /* no LiPo */
-    #define TURN_STEPS_90         650//720
+    #define TURN_STEPS_90         720
       /*!< number of steps for a 90 degree turn */
-    #define TURN_STEPS_LINE       170//100 /*230*/
+    #define TURN_STEPS_LINE       100 /*230*/
       /*!< number of steps stepping over the line */
-    #define TURN_STEPS_POST_LINE  240//150
+    #define TURN_STEPS_POST_LINE  150
       /*!< number of steps after the line, before making a turn */
     #define TURN_STEPS_90_TIMEOUT_MS        1000
     #define TURN_STEPS_LINE_TIMEOUT_MS      200