diff --git a/square.py b/square.py
index bccfc7a..80ebdbc 100644
--- a/square.py
+++ b/square.py
@@ -11,7 +11,7 @@ RIGHT_WHEEL_OFFSET = 4
 CLOCKWISE_OFFSET = 0.96
 
 def clockwise_square(arlo):
-    while True:
+    for _ in range(4):
         # Driving forward
         arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
         sleep(DRIVE_T * 10)
@@ -27,7 +27,7 @@ def clockwise_square(arlo):
         sleep(1)
 
 def counter_square(arlo):
-    while True:
+    for _ in range(4):
         # Driving forward
         arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
         sleep(DRIVE_T * 10)
@@ -37,7 +37,11 @@ def counter_square(arlo):
 
         # Turning 90 degrees
         arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
-        sleep(TURN_T * 9)
+        sleep(TURN_T * 10)
+        arlo.stop()
+        sleep(0.5)
+        arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 0)
+        sleep(TURN_T)
         arlo.stop()
 
         sleep(1)