diff --git a/square.py b/square.py
index 80ebdbc..324c0d9 100644
--- a/square.py
+++ b/square.py
@@ -27,24 +27,28 @@ def clockwise_square(arlo):
         sleep(1)
 
 def counter_square(arlo):
+    arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
+    sleep(TURN_T * 0.5)
+    arlo.stop()
+
     for _ in range(4):
         # Driving forward
         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 + RIGHT_WHEEL_OFFSET, 0, 1)
         sleep(TURN_T * 10)
         arlo.stop()
-        sleep(0.5)
+        sleep(0.2)
         arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 0)
         sleep(TURN_T)
         arlo.stop()
 
-        sleep(1)
+        sleep(0.5)
 
 def main():
     # Initializes the robot and runs the