diff --git a/main.c b/main.c
index 19af0ed..6028790 100644
--- a/main.c
+++ b/main.c
@@ -22,8 +22,8 @@
 #define ACTION_STEP 0.1
 
 #define PITCH_STEP 0.08
-#define ROLL_STEP 0.00
-#define YAW_STEP 0.01
+#define ROLL_STEP 0.05
+#define YAW_STEP 0.05
 
 #define K1 100
 #define K2 50
@@ -69,23 +69,23 @@ static struct termios originalTerm = {};
 
 double calcX(double x, double y, double z){
 	return
-		x * Angle.cosA * Angle.cosB +
-		y * Angle.sinA * Angle.cosB
+		x * Angle.cosC * Angle.cosB +
+		y * Angle.sinC * Angle.cosB
 		-z * Angle.sinB;
 }
 
 double calcY(double x, double y, double z){
 	return
-		x * (Angle.cosA * Angle.sinB * Angle.sinC - Angle.sinA * Angle.cosC) +
-		y * (Angle.sinA * Angle.sinB * Angle.sinC + Angle.cosA * Angle.cosC) +
-		z * Angle.cosB * Angle.sinC;
+		x * (Angle.cosC * Angle.sinB * Angle.sinA - Angle.sinC * Angle.cosA) +
+		y * (Angle.sinC * Angle.sinB * Angle.sinA + Angle.cosC * Angle.cosA) +
+		z * Angle.cosB * Angle.sinA;
 }
 
 double calcZ(double x, double y, double z){
 	return
-		x * (Angle.cosA * Angle.sinB * Angle.cosC + Angle.sinA * Angle.sinC) +
-		y * (Angle.sinA * Angle.sinB * Angle.cosC - Angle.cosA * Angle.sinC) +
-		z * Angle.cosB * Angle.cosC;
+		x * (Angle.cosC * Angle.sinB * Angle.cosA + Angle.sinC * Angle.sinA) +
+		y * (Angle.sinC * Angle.sinB * Angle.cosA - Angle.cosC * Angle.sinA) +
+		z * Angle.cosB * Angle.cosA;
 }
 
 void calcAngle(){
@@ -164,20 +164,16 @@ void handleAngle(char *input) {
 		Angle.currentTarget = *input;
 		switch (*input) {
 		case 'W':
-			Angle.CTarget -= M_PI_2;
-			// pitch angle +pi/2
+			Angle.ATarget = Angle.A - M_PI_2;
 			break;
 		case 'A':
-			// yaw angle -pi/2
-			Angle.BTarget -= M_PI_2;
+			Angle.BTarget = Angle.B + M_PI_2;
 			break;
 		case 'S':
-			// pitch angle -pi/2
-			Angle.CTarget += M_PI_2;
+			Angle.ATarget = Angle.A + M_PI_2;
 			break;
 		case 'D':
-			// yaw angle +pi/2
-			Angle.BTarget += M_PI_2;
+			Angle.BTarget = Angle.B - M_PI_2;
 			break;
 		default:
 			Angle.currentTarget = 0;
@@ -185,28 +181,28 @@ void handleAngle(char *input) {
 
 		// idle animation
 		//Angle.A += ROLL_STEP;
-		//Angle.B += YAW_STEP;
+		Angle.B += YAW_STEP;
 		//Angle.C += PITCH_STEP;
 	}
 
 	else
 		switch(Angle.currentTarget) {
 		case 'W':
-			Angle.C -= ACTION_STEP;
-			if (Angle.C <= Angle.CTarget) RESET_C_ANGLE(*input);
+			Angle.A -= ACTION_STEP;
+			if (Angle.A <= Angle.ATarget) RESET_A_ANGLE(*input);
 			break;
 		case 'A':
-			Angle.B -= ACTION_STEP;
-			if (Angle.B <= Angle.BTarget) RESET_B_ANGLE(*input);
-			break;
-		case 'S':
-			Angle.C += ACTION_STEP;
-			if (Angle.C >= Angle.CTarget) RESET_C_ANGLE(*input);
-			break;
-		case 'D':
 			Angle.B += ACTION_STEP;
 			if (Angle.B >= Angle.BTarget) RESET_B_ANGLE(*input);
 			break;
+		case 'S':
+			Angle.A += ACTION_STEP;
+			if (Angle.A >= Angle.ATarget) RESET_A_ANGLE(*input);
+			break;
+		case 'D':
+			Angle.B -= ACTION_STEP;
+			if (Angle.B <= Angle.BTarget) RESET_B_ANGLE(*input);
+			break;
 	}
 }
 
@@ -258,11 +254,11 @@ int main(){
 		memset(output, ' ', SCREEN_WIDTH * SCREEN_HEIGHT);
 		memset(zBuffer, 0, SCREEN_WIDTH * SCREEN_HEIGHT * sizeof(double));
 
-		for(double cubeX = -CUBE_WIDTH ; cubeX < CUBE_WIDTH ; cubeX += STEP) {
-			for(double cubeY = -CUBE_WIDTH ; cubeY < CUBE_WIDTH ; cubeY += STEP) {
+		for(double cubeX = -CUBE_WIDTH + STEP ; cubeX < CUBE_WIDTH - STEP ; cubeX += STEP) {
+			for(double cubeY = -CUBE_WIDTH + STEP ; cubeY < CUBE_WIDTH - STEP ; cubeY += STEP) {
 				rotateCube(cubeX, cubeY, -CUBE_WIDTH, FACE_FRONT);//front
 				rotateCube(cubeX, cubeY, CUBE_WIDTH, FACE_BACK);//back
-				rotateCube(CUBE_WIDTH, -cubeX, cubeY, FACE_RIGHT);//right
+				rotateCube(CUBE_WIDTH,  cubeX, cubeY, FACE_RIGHT);//right
 				rotateCube(-CUBE_WIDTH, cubeX, cubeY, FACE_LEFT);//left
 				rotateCube(cubeX, CUBE_WIDTH, cubeY, FACE_BOTTOM);//bottom
 				rotateCube(cubeX, -CUBE_WIDTH, cubeY, FACE_TOP);//top