diff --git a/forward_test.py b/forward_test.py
new file mode 100644
index 0000000..4b8a566
--- /dev/null
+++ b/forward_test.py
@@ -0,0 +1,25 @@
+from time import sleep
+import robot
+
+POWER = 70
+
+TURN_T = 0.079 # 10 degrees
+DRIVE_T = 0.25 # 10 centimeter
+
+RIGHT_WHEEL_OFFSET = 4
+
+CLOCKWISE_OFFSET = 0.96
+
+def main():
+
+    # Initializes the robot and runs the
+    arlo = robot.Robot()
+
+    arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
+    sleep(DRIVE_T * 10)
+    arlo.stop()
+
+
+if __name__ == "__main__":
+
+    main()
diff --git a/square.py b/square.py
index 54c5c92..af193c9 100644
--- a/square.py
+++ b/square.py
@@ -6,19 +6,21 @@ POWER = 70
 TURN_T = 0.079 # 10 degrees
 DRIVE_A = 16 # 10 centimeter drive at power 1
 
+RIGHT_WHEEL_OFFSET = 4
+
 CLOCKWISE_OFFSET = 0.96
 
 def square(arlo, drive_t):
     while True:
         # Driving forward
-        arlo.go_diff(POWER, POWER+4, 1, 1)
+        arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
         sleep(drive_t * 10)
         arlo.stop()
 
         sleep(1)
 
         # Turning 90 degrees
-        arlo.go_diff(POWER, POWER+4, 0, 1)
+        arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
         sleep(TURN_T * 9)
         arlo.stop()