diff --git a/bin/simulate b/bin/simulate
index 3dd61f4..acdbc8f 100755
--- a/bin/simulate
+++ b/bin/simulate
@@ -53,6 +53,7 @@ while ($nc->PPMC->ready()) {
 				usleep($interval);
 			}
 			break;
+
 		case 2:
 		case 3:
 			// Circular interpolation
@@ -70,56 +71,55 @@ while ($nc->PPMC->ready()) {
 
 			// Calculate starting and ending angles [0 - 2pi]
 			$angleStart = atan2($posStart->y - $posCenter->y, $posStart->x - $posCenter->x);
-//			while ($angleStart < 0) {
-//				$angleStart += TWO_PI;
-//			}
+			if ($posStart->y - $posCenter->y < 0) {
+				$angleStart += TWO_PI;
+			}
+
 			$angleEnd = atan2($posEnd->y - $posCenter->y, $posEnd->x - $posCenter->x);
-//			while ($angleEnd < 0) {
-//				$angleEnd += TWO_PI;
-//			}
+			if ($posEnd->y - $posCenter->y < 0) {
+				$angleEnd += TWO_PI;
+			}
 
 			// segment length = 2 * pi * r * alpha / (2*pi) = r * alpha
 			$segmentLength = $r * abs($angleStart - $angleEnd);
 
 			$duration = $segmentLength / $feedPerSecond;
-			$nSteps = abs($angleStart - $angleEnd) / 0.001;
-			if ($nSteps === 0) {
+			$nSteps = abs($angleStart - $angleEnd) / 0.01;
+			if ($nSteps == 0) {
 				break;
 			}
 
 			$interval = 1_000_000 * $duration / $nSteps;
-			$delta = $afterStep->G_TRAVERSE === 2 ? 0.001 : -0.001; // CW[2] vs CCW[3]
+			$delta = $afterStep->G_TRAVERSE === 2 ? 0.01 : -0.01; // CW[2] vs CCW[3]
+
+//			dump([
+//				"G{$afterStep->G_TRAVERSE}",
+//				'from'     => $posStart,
+//				'to'       => $posEnd,
+//				'center'   => $posCenter,
+//				'r'        => $r,
+//				'a_from'   => ($angleStart / pi()) . 'π',
+//				'a_end'    => ($angleEnd / pi()) . 'π',
+//				'length'   => $segmentLength,
+//				'steps'    => $nSteps,
+//				'duration' => $duration,
+//				'interval' => $interval,
+//				'delta'    => $delta,
+//			]);
+//			readline();
+//			$i = 0;
+			for ($a = $angleStart; abs($a - $angleEnd) > 0.01; $a += $delta) {
+				$a += $a < 0 ? TWO_PI : 0;
+				$a -= $a > TWO_PI ? TWO_PI : 0;
 
-			dump([
-				"G{$afterStep->G_TRAVERSE}",
-				'from'     => $posStart,
-				'to'       => $posEnd,
-				'center'   => $posCenter,
-				'r'        => $r,
-				'a_from'   => ($angleStart / pi()) . 'π',
-				'a_end'    => ($angleEnd / pi()) . 'π',
-				'length'   => $segmentLength,
-				'steps'    => $nSteps,
-				'duration' => $duration,
-				'interval' => $interval,
-				'delta'    => $delta,
-			]);
-			readline();
-			$i = 0;
-			for ($a = $angleStart; abs($a - $angleEnd) > 0.001; $a += $delta) {
-				if ($a > TWO_PI) {
-					$a -= TWO_PI;
-				} else if ($a < -TWO_PI) {
-					$a += TWO_PI;
-				}
 				$pos = new Vector2D($posCenter->x + $r * cos($a), $posCenter->y + $r * sin($a));
 				p($pos);
-				print("Alpha: $a\n");
+				printf("θ=%1.2fπ\n", $a / pi());
 				usleep($interval);
-				$i++;
+//				$i++;
 			}
-			dump(['took_steps' => $i]);
-			readline();
+//			dump(['took_steps' => $i]);
+//			readline();
 			break;
 		default:
 			break;