diff --git a/.gitignore b/.gitignore
index ed8ebf5..2174961 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,2 @@
-__pycache__
\ No newline at end of file
+__pycache__
+myenv/
\ No newline at end of file
diff --git a/controller.py b/controller.py
index 78b398e..a159881 100644
--- a/controller.py
+++ b/controller.py
@@ -1,17 +1,219 @@
 import numpy as np
 from numpy.typing import ArrayLike
-
 from simulator import RaceTrack
 
-def lower_controller(
-    state : ArrayLike, desired : ArrayLike, parameters : ArrayLike
-) -> ArrayLike:
-    # [steer angle, velocity]
-    assert(desired.shape == (2,))
+def compute_heading(centerline: np.ndarray) -> np.ndarray:
+    """
+    Compute heading angle at each centerline point using finite differences.
+
+    centerline: array of points along the track
+    """
+
+    # calculate approximate segment vectors between consecutive points
+    diffs = np.diff(centerline, axis=0)
+
+    # each segment vector, compute a heading angle
+    headings = np.arctan2(diffs[:, 1], diffs[:, 0])
+
+    # since we have one fewer diff element than points, we add headings[-1] to make return
+    # array same length as center line
+    return np.append(headings, headings[-1])
+
+
+def compute_curvature(centerline: np.ndarray, heading: np.ndarray) -> np.ndarray:
+    """
+    Approximate curvature along the centerline:
+        kappa = d(phi)/ds
+    
+        d(phi) = change in heading between points i-1 and i+1
+        ds = change in distanc ebetween centerline[i-1] and centerline[i+1]
+    """
+    N = centerline.shape[0]
+    kappa = np.zeros(N)
+
+    for i in range(1, N - 1):
+        dphi = heading[i+1] - heading[i-1]
+        dphi = np.arctan2(np.sin(dphi), np.cos(dphi))  # wrap correctly
+        ds = np.linalg.norm(centerline[i+1] - centerline[i-1])
+        kappa[i] = dphi / (ds + 1e-6)
+
+    # Smooth curvature with a 9-point moving average
+    kernel = np.ones(9) / 9.0
+    return np.convolve(kappa, kernel, mode="same")
+
+
+def compute_cross_track_error(state: ArrayLike, racetrack: RaceTrack):
+    """
+    Cross-track error using RaceTrack boundaries
+    Returns:
+        s    : index of closest centerline point
+        e_ct : signed lateral deviation (>0 toward right boundary)
+    """
+    centerline = racetrack.centerline
+    rb = racetrack.right_boundary
+    lb = racetrack.left_boundary
+
+    # get car pos
+    x, y = state[0], state[1]
+    pos = np.array([x, y])
+
+    # find nearest centerline point to car
+    d = np.linalg.norm(centerline - pos, axis=1)
+    s = int(np.argmin(d)) # s is the index of the nearest centerline point
+
+    # rb[s]: right boundary point
+    # find the vector pointing from the centerline and the right edge
+    v = rb[s] - centerline[s]
+    
+    # normalize v to unit length to only get direction
+    norm_v = np.linalg.norm(v) 
+    if norm_v < 1e-6:
+        v = centerline[s] - lb[s]
+        norm_v = np.linalg.norm(v)
+    normal = v / (norm_v + 1e-6)
+
+    # pos - centerline[s] - vector from centerline point to car
+    # project this vector to the normal to see if car is towards left or right boundary
+    # positive = car is towards right boundary
+    # negative = car is towards left boundary
+    # e_ct - how far sideways am I from track centerline
+    e_ct = np.dot(pos - centerline[s], normal)
+    return s, e_ct
+
+
+
+def lower_controller(state: ArrayLike, desired: ArrayLike, parameters: ArrayLike) -> ArrayLike:
+    """
+    desired = [delta_ref, v_ref]
+    returns [steering_rate_cmd, accel_cmd]
+    """
+    delta = state[2]
+    v = state[3]
+
+    delta_r, v_r = desired
+
+    # Steering rate control (P)
+    k_delta = 3.0
+    v_delta_cmd = k_delta * (delta_r - delta)
+
+    # Velocity control (P)
+    k_v = 1.0
+    a_cmd = k_v * (v_r - v)
+
+    return np.array([v_delta_cmd, a_cmd])
+
+
+# ------------------------------------------------------------
+# High-level curvature-aware controller
+# ------------------------------------------------------------
+
+def controller(state: ArrayLike, parameters: ArrayLike, racetrack: RaceTrack) -> ArrayLike:
+    x, y, delta, v, phi = state
+
+    # Car parameters
+    L         = parameters[0]   # wheelbase
+    delta_min = parameters[1]
+    delta_max = parameters[4]
+    v_max     = parameters[5]
+
+    centerline = racetrack.centerline
+
+    # Cache heading and curvature
+    if not hasattr(racetrack, "_heading"):
+        racetrack._heading = compute_heading(centerline)
+
+    if not hasattr(racetrack, "_curvature"):
+        racetrack._curvature = compute_curvature(centerline, racetrack._heading)
+
+    heading   = racetrack._heading
+    curvature = racetrack._curvature
+
+    # Cross-track error + LOCAL heading error (no lookahead)
+    s, e_ct = compute_cross_track_error(state, racetrack)
+
+    # desired heading at the same nearest centerline point
+    phi_ref = heading[s]
+    e_phi   = np.arctan2(np.sin(phi_ref - phi), np.cos(phi_ref - phi))
+
+    heading_ahead = heading[(s + 8) % len(heading)]
+    dphi_ahead = np.arctan2(np.sin(heading_ahead - heading[s]), 
+                            np.cos(heading_ahead - heading[s]))
+
+    sharpness = abs(dphi_ahead) / np.pi 
+
+
+    L_steps = int(1 +  v) # dynamic look-ahead for curvature
+    N = len(curvature)
+    idx = np.arange(s, s + L_steps) % N
+
+    kappa_ahead = np.max(np.abs(curvature[idx]))  # worst curve coming up
+
+    if not hasattr(racetrack, "_kappa_max"):
+        racetrack._kappa_max = np.max(np.abs(curvature)) + 1e-6
+    kappa_norm = kappa_ahead / racetrack._kappa_max   # in [0,1]
+
+    gain_factor = 1.0 + 2.0 * kappa_norm
+
+    dt = 0.1
+    if not hasattr(racetrack, "_phi_int"):
+        racetrack._phi_int  = 0.0
+        racetrack._phi_prev = e_phi
+
+    # base gains
+    Kp_base = 0.5
+    Ki_base = 0.04
+    Kd_base = 0.10
+
+    # scale P and I slightly with curvature severity
+    Kp = Kp_base * gain_factor
+    Ki = Ki_base * gain_factor
+    Kd = Kd_base  # derivative unscaled
+
+    racetrack._phi_int += e_phi * dt
+    racetrack._phi_int = np.clip(racetrack._phi_int, -0.4, 0.4)
+
+    e_phi_dot = (e_phi - racetrack._phi_prev) / dt
+    racetrack._phi_prev = e_phi
+
+    delta_pid = Kp * e_phi + Ki * racetrack._phi_int + Kd * e_phi_dot
+
+    # Cross-track correction (also slightly stronger in tight corners)
+    Kct_base = 0.05
+    Kct = Kct_base * (1.0 + 1.0 * kappa_norm)
+    delta_ct = Kct * e_ct
+
+    # Curvature feedforward (using local curvature only)
+    kappa_here = curvature[s]
+    Kff = 0.9
+    delta_ff = Kff * np.arctan(L * kappa_here)
+
+    # final steering: local heading + cross-track + local curvature FF
+    delta_r = delta_ff + delta_pid + delta_ct
+    delta_r = np.clip(delta_r, delta_min, delta_max)
+
+    # SPEED COMPUTATION USING LATERAL ACCEL LIMIT + LOOK-AHEAD
+    base_speed = 100.0
+    min_turn_speed = -10.0
+    a_lat_max = 8.0
+
+    v_heading = base_speed - sharpness * (base_speed - 3)
+
+    if kappa_ahead < 1e-6:
+        v_curve = base_speed
+    else:
+        v_curve = np.sqrt(a_lat_max / (kappa_ahead + 1e-9))
+        v_curve = np.clip(v_curve, min_turn_speed, base_speed)
+
+    # stronger error-based slowdown in severe geometries
+    err_gain = 1.0 + 10 * kappa_norm
+
+    v_r = min(v_curve, v_heading)
+
+    v_r -= err_gain * (3.0 * abs(e_phi) + 0.5 * abs(e_ct))
+
+
+    v_r = np.clip(v_r, 1.0, v_max)
+
+    return np.array([delta_r, v_r])
 
-    return np.array([0, 100]).T
 
-def controller(
-    state : ArrayLike, parameters : ArrayLike, racetrack : RaceTrack
-) -> ArrayLike:
-    return np.array([0, 100]).T
\ No newline at end of file
diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000..dc15bb7
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1,13 @@
+contourpy==1.3.0
+cycler==0.12.1
+fonttools==4.60.1
+importlib_resources==6.5.2
+kiwisolver==1.4.7
+matplotlib==3.9.4
+numpy==2.0.2
+packaging==25.0
+pillow==11.3.0
+pyparsing==3.2.5
+python-dateutil==2.9.0.post0
+six==1.17.0
+zipp==3.23.0
diff --git a/simulator.py b/simulator.py
index 1696d85..6052871 100755
--- a/simulator.py
+++ b/simulator.py
@@ -11,10 +11,13 @@
 
 class Simulator:
 
+
     def __init__(self, rt : RaceTrack):
         matplotlib.rcParams["figure.dpi"] = 300
         matplotlib.rcParams["font.size"] = 8
 
+        self.trajectory = []
+
         self.rt = rt
         self.figure, self.axis = plt.subplots(1, 1)
 
@@ -108,6 +111,25 @@ def run(self):
                 fontsize=8, color="Red"
             )
 
+            #             # plot trajectory
+            # self.trajectory.append([self.car.state[0], self.car.state[1], self.car.state[3]])
+            # if len(self.trajectory) > 1:
+            #     trajectory_array = np.array(self.trajectory)
+            #     for i in range(len(trajectory_array) - 1):
+            #         speed = trajectory_array[i, 2]
+            #         if speed < 20:
+            #             color = 'red'
+            #         elif speed < 50:
+            #             ratio = (speed - 20) / 30
+            #             color = (1.0, ratio * 0.65, 0.0)
+            #         else:
+            #             ratio = (speed - 50) / 50
+            #             color = ((1.0 - ratio), 0.65 + ratio * 0.35, 0.0)
+            #         self.axis.plot(trajectory_array[i:i+2, 0], trajectory_array[i:i+2, 1], 
+            #                      color=color, linewidth=2, alpha=0.8)
+
+            
+
             self.figure.canvas.draw()
             return True
 
@@ -120,9 +142,10 @@ def update_status(self):
         if progress > 10.0 and not self.lap_started:
             self.lap_started = True
     
-        if progress <= 1.0 and self.lap_started and not self.lap_finished:
+        if progress <= 5.0 and self.lap_started and not self.lap_finished:
             self.lap_finished = True
             self.lap_time_elapsed = time() - self.lap_start_time
+            print("FINAL TIME", self.lap_time_elapsed)
 
         if not self.lap_finished and self.lap_start_time is not None:
             self.lap_time_elapsed = time() - self.lap_start_time
@@ -132,4 +155,5 @@ def start(self):
         self.timer = self.figure.canvas.new_timer(interval=1)
         self.timer.add_callback(self.run)
         self.lap_start_time = time()
-        self.timer.start()
\ No newline at end of file
+        self.timer.start()
+        print("TIME", self.lap_time_elapsed)
\ No newline at end of file