diff --git a/src/drawing_controller/drawing_controller/drawing_controller.py b/src/drawing_controller/drawing_controller/drawing_controller.py
index 5af76b5..b7f3317 100644
--- a/src/drawing_controller/drawing_controller/drawing_controller.py
+++ b/src/drawing_controller/drawing_controller/drawing_controller.py
@@ -126,10 +126,10 @@ class DrawingController(Node):
         p1 = self.map_point(next_line[0][0],next_line[0][1])
         p2 = self.map_point(next_line[1][0],next_line[1][1])
         self.get_logger().info('Drawing line with p1:{} p2:{}'.format(p1,p2))
-        self.append_point(motion, p1, 0.2)
-        self.append_point(motion, p1, 0.1)
-        self.append_point(motion, p2, 0.1)
-        self.append_point(motion, p2, 0.2)
+        self.append_point(motion, p1, 1.0)
+        self.append_point(motion, p1, 0.0)
+        self.append_point(motion, p2, 0.0)
+        self.append_point(motion, p2, 1.0)
         self.i = (self.i + 1) % len(self.lines)
 
         self.get_logger().info('Executing motion:{}'.format(motion.path))