diff --git a/square.py b/square.py
index 53562fe..788c482 100644
--- a/square.py
+++ b/square.py
@@ -4,21 +4,23 @@ import robot
 DRIVE_A = 5.3 # 10 degrees turn at power 1
 TURN_A = 16 # 10 centimeter drive at power 1
 
+RIGHT_WHEEL_OFFSET = 3
+
 def square(arlo, power, turn_t, drive_t):
     while True:
         # Driving forward
-        arlo.go_diff(power, power, 1, 1)
+        arlo.go_diff(power, power + RIGHT_WHEEL_OFFSET, 1, 1)
         sleep(drive_t * 10)
         arlo.stop()
 
-        sleep(1)
+        sleep(0.5)
 
         # Turning 90 degrees
-        arlo.go_diff(power, power, 1, 0)
+        arlo.go_diff(power, power + RIGHT_WHEEL_OFFSET, 1, 0)
         sleep(turn_t * 9)
         arlo.stop()
 
-        sleep(1)
+        sleep(0.5)
 
 def main():
     # Gets the power for the robot