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     - target: {fileID: 7490659993866479126, guid: fcce1d4317d5a2847b55085d008f27f3,
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       propertyPath: m_LocalPosition.x
@@ -652,5 +785,42 @@ PrefabInstance:
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       value: UICanvas
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+  m_Name: 
+  m_EditorClassIdentifier: 
diff --git a/Assets/Scenes/NRC_Land.unity b/Assets/Scenes/NRC_Land.unity
index 101e78f..9a34be0 100644
--- a/Assets/Scenes/NRC_Land.unity
+++ b/Assets/Scenes/NRC_Land.unity
@@ -96,6 +96,7 @@ LightmapSettings:
     m_PVRFilteringAtrousPositionSigmaAO: 1
     m_ExportTrainingData: 0
     m_TrainingDataDestination: TrainingData
+    m_LightProbeSampleCountMultiplier: 4
   m_LightingDataAsset: {fileID: 0}
   m_UseShadowmask: 1
 --- !u!196 &4
@@ -152,6 +153,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -443,8 +445,9 @@ Light:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 705507993}
   m_Enabled: 1
-  serializedVersion: 9
+  serializedVersion: 10
   m_Type: 1
+  m_Shape: 0
   m_Color: {r: 1, g: 0.95686275, b: 0.8392157, a: 1}
   m_Intensity: 1
   m_Range: 10
@@ -713,10 +716,11 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
-  - {fileID: 2100000, guid: 0a0addc952942fa4aa4bc73073aae89e, type: 2}
+  - {fileID: 2100000, guid: 15086992ae8979e41b41278c8a1e8d9b, type: 2}
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     firstSubMesh: 0
     subMeshCount: 0
@@ -841,6 +845,11 @@ PrefabInstance:
   m_Modification:
     m_TransformParent: {fileID: 0}
     m_Modifications:
+    - target: {fileID: 6892051617767838480, guid: 63ab79c8d0b3b054fb3bb3c99e37959c,
+        type: 3}
+      propertyPath: onRobotInstantiate.m_PersistentCalls.m_Calls.Array.size
+      value: 2
+      objectReference: {fileID: 0}
     - target: {fileID: 6892051617767838480, guid: 63ab79c8d0b3b054fb3bb3c99e37959c,
         type: 3}
       propertyPath: spawnLocation
@@ -856,6 +865,31 @@ PrefabInstance:
       propertyPath: onRobotInstantiate.m_PersistentCalls.m_Calls.Array.data[0].m_MethodName
       value: InitCompass
       objectReference: {fileID: 0}
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+      value: 1
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+      value: 
+      objectReference: {fileID: 1916494850}
+    - target: {fileID: 6892051617767838480, guid: 63ab79c8d0b3b054fb3bb3c99e37959c,
+        type: 3}
+      propertyPath: onRobotInstantiate.m_PersistentCalls.m_Calls.Array.data[1].m_MethodName
+      value: InitSpeedometer
+      objectReference: {fileID: 0}
+    - target: {fileID: 6892051617767838480, guid: 63ab79c8d0b3b054fb3bb3c99e37959c,
+        type: 3}
+      propertyPath: onRobotInstantiate.m_PersistentCalls.m_Calls.Array.data[1].m_Arguments.m_ObjectArgumentAssemblyTypeName
+      value: UnityEngine.Object, UnityEngine
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     - target: {fileID: 6892051617767838482, guid: 63ab79c8d0b3b054fb3bb3c99e37959c,
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+  m_Script: {fileID: 11500000, guid: 191e2d9bed2cacc4785528a6a3412575, type: 3}
+  m_Name: 
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   m_ObjectHideFlags: 0
diff --git a/Assets/Scripts/SimpleCarController.cs b/Assets/Scripts/SimpleCarController.cs
index bb078fe..7c10e7a 100644
--- a/Assets/Scripts/SimpleCarController.cs
+++ b/Assets/Scripts/SimpleCarController.cs
@@ -34,8 +34,10 @@ public void FixedUpdate()
 
             if (useController)
             {
-                left = Mathf.Pow(Input.GetAxis("Vertical"), 3) * speedMod / wheelRadius;
-                right = -Mathf.Pow(Input.GetAxis("Vertical2"), 3) * speedMod / wheelRadius;
+                float horiz = Mathf.Pow(Input.GetAxis("Vertical"), 3);
+                float vertical = Input.GetAxis("Horizontal");
+                left = (horiz * vertical + horiz) * speedMod / wheelRadius;
+                right = (-horiz * vertical + horiz) * speedMod / wheelRadius;
             }
             else
             {
diff --git a/Assets/Scripts/SpeedometerScript.cs b/Assets/Scripts/SpeedometerScript.cs
new file mode 100644
index 0000000..8c2fffd
--- /dev/null
+++ b/Assets/Scripts/SpeedometerScript.cs
@@ -0,0 +1,43 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using TMPro;
+using UnityEngine;
+
+public class SpeedometerScript : MonoBehaviour
+{
+
+    public TextMeshProUGUI textMilesPerHour;
+    public TextMeshProUGUI textMetersPerSecond;
+    public GameObject robot;
+
+    private float curSpeed = 0.0f;
+    private Vector3 lastPos = new Vector3(0, 0, 0);
+
+    public void InitSpeedometer()
+    {
+        this.robot = LevelInitalizer.robot;
+        lastPos = this.robot.transform.position;
+    }
+
+    private void Update()
+    {
+        if (robot)
+        {
+            textMetersPerSecond.text = $"{curSpeed:0.0} m/s";
+            textMilesPerHour.text = $"{curSpeed * 2.237:0.0} mph"; ;
+        }
+    }
+
+    void FixedUpdate()
+    {
+        if (robot)
+        {
+            float instSpeed = (robot.transform.position - lastPos).magnitude / Time.fixedDeltaTime;
+
+            curSpeed = 0.85f * instSpeed + 0.15f * curSpeed;
+
+            lastPos = robot.transform.position;
+        }
+    }
+}
diff --git a/Assets/Scripts/SpeedometerScript.cs.meta b/Assets/Scripts/SpeedometerScript.cs.meta
new file mode 100644
index 0000000..552aadb
--- /dev/null
+++ b/Assets/Scripts/SpeedometerScript.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 191e2d9bed2cacc4785528a6a3412575
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
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+  assetBundleVariant: 
diff --git a/Assets/StreamingAssets/build_info b/Assets/StreamingAssets/build_info
index 59a7e07..af4cba6 100644
--- a/Assets/StreamingAssets/build_info
+++ b/Assets/StreamingAssets/build_info
@@ -1 +1 @@
-Build from DESKTOP-D8RUH2C at 2/11/2020 7:25:10 PM
\ No newline at end of file
+Build from DESKTOP-QVE6E0N at 2/26/2020 8:07:26 PM
\ No newline at end of file
diff --git a/ProjectSettings/InputManager.asset b/ProjectSettings/InputManager.asset
index 90c6024..05407b9 100644
--- a/ProjectSettings/InputManager.asset
+++ b/ProjectSettings/InputManager.asset
@@ -6,7 +6,7 @@ InputManager:
   serializedVersion: 2
   m_Axes:
   - serializedVersion: 3
-    m_Name: Vertical2
+    m_Name: Horizontal
     descriptiveName: 
     descriptiveNegativeName: 
     negativeButton: left
@@ -21,134 +21,6 @@ InputManager:
     type: 0
     axis: 0
     joyNum: 0
-  - serializedVersion: 3
-    m_Name: Vertical
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: down
-    positiveButton: up
-    altNegativeButton: s
-    altPositiveButton: w
-    gravity: 3
-    dead: 0.001
-    sensitivity: 3
-    snap: 1
-    invert: 0
-    type: 0
-    axis: 0
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Fire1
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: left ctrl
-    altNegativeButton: 
-    altPositiveButton: mouse 0
-    gravity: 1000
-    dead: 0.001
-    sensitivity: 1000
-    snap: 0
-    invert: 0
-    type: 0
-    axis: 0
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Fire2
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: left alt
-    altNegativeButton: 
-    altPositiveButton: mouse 1
-    gravity: 1000
-    dead: 0.001
-    sensitivity: 1000
-    snap: 0
-    invert: 0
-    type: 0
-    axis: 0
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Fire3
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: left shift
-    altNegativeButton: 
-    altPositiveButton: mouse 2
-    gravity: 1000
-    dead: 0.001
-    sensitivity: 1000
-    snap: 0
-    invert: 0
-    type: 0
-    axis: 0
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Jump
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: space
-    altNegativeButton: 
-    altPositiveButton: 
-    gravity: 1000
-    dead: 0.001
-    sensitivity: 1000
-    snap: 0
-    invert: 0
-    type: 0
-    axis: 0
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Mouse X
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: 
-    altNegativeButton: 
-    altPositiveButton: 
-    gravity: 0
-    dead: 0
-    sensitivity: 0.1
-    snap: 0
-    invert: 0
-    type: 1
-    axis: 0
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Mouse Y
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: 
-    altNegativeButton: 
-    altPositiveButton: 
-    gravity: 0
-    dead: 0
-    sensitivity: 0.1
-    snap: 0
-    invert: 0
-    type: 1
-    axis: 1
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Mouse ScrollWheel
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: 
-    altNegativeButton: 
-    altPositiveButton: 
-    gravity: 0
-    dead: 0
-    sensitivity: 0.1
-    snap: 0
-    invert: 0
-    type: 1
-    axis: 2
-    joyNum: 0
   - serializedVersion: 3
     m_Name: Horizontal
     descriptiveName: 
@@ -163,23 +35,23 @@ InputManager:
     snap: 0
     invert: 0
     type: 2
-    axis: 0
+    axis: 3
     joyNum: 0
   - serializedVersion: 3
-    m_Name: Vertical2
+    m_Name: Vertical
     descriptiveName: 
     descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: 
-    altNegativeButton: 
-    altPositiveButton: 
-    gravity: 0
-    dead: 0.19
-    sensitivity: 1
-    snap: 0
+    negativeButton: down
+    positiveButton: up
+    altNegativeButton: s
+    altPositiveButton: w
+    gravity: 3
+    dead: 0.001
+    sensitivity: 3
+    snap: 1
     invert: 0
-    type: 2
-    axis: 4
+    type: 0
+    axis: 0
     joyNum: 0
   - serializedVersion: 3
     m_Name: Vertical
@@ -197,70 +69,6 @@ InputManager:
     type: 2
     axis: 1
     joyNum: 0
-  - serializedVersion: 3
-    m_Name: Fire1
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: joystick button 0
-    altNegativeButton: 
-    altPositiveButton: 
-    gravity: 1000
-    dead: 0.001
-    sensitivity: 1000
-    snap: 0
-    invert: 0
-    type: 0
-    axis: 0
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Fire2
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: joystick button 1
-    altNegativeButton: 
-    altPositiveButton: 
-    gravity: 1000
-    dead: 0.001
-    sensitivity: 1000
-    snap: 0
-    invert: 0
-    type: 0
-    axis: 0
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Fire3
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: joystick button 2
-    altNegativeButton: 
-    altPositiveButton: 
-    gravity: 1000
-    dead: 0.001
-    sensitivity: 1000
-    snap: 0
-    invert: 0
-    type: 0
-    axis: 0
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Jump
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: joystick button 3
-    altNegativeButton: 
-    altPositiveButton: 
-    gravity: 1000
-    dead: 0.001
-    sensitivity: 1000
-    snap: 0
-    invert: 0
-    type: 0
-    axis: 0
-    joyNum: 0
   - serializedVersion: 3
     m_Name: Submit
     descriptiveName: