diff --git a/.gitignore b/.gitignore
index acfbb12..f9a7ded 100644
--- a/.gitignore
+++ b/.gitignore
@@ -26,6 +26,7 @@ Pathfinder-Java/.gradle/
 Pathfinder-Core/build/
 test/build
 .gradle/
+**/gradle.properties
 out/
 .idea
 
diff --git a/Pathfinder-Core/src/modifiers/tank.c b/Pathfinder-Core/src/modifiers/tank.c
index a51fbbb..0045de6 100644
--- a/Pathfinder-Core/src/modifiers/tank.c
+++ b/Pathfinder-Core/src/modifiers/tank.c
@@ -14,34 +14,42 @@ void pathfinder_modify_tank(Segment *original, int length, Segment *left_traj, S
         
         left.x = seg.x - (w * sin_angle);
         left.y = seg.y + (w * cos_angle);
-        
-        if (i > 0) {
-            Segment last = left_traj[i - 1];
-            double distance = sqrt(
-                (left.x - last.x) * (left.x - last.x)
-                + (left.y - last.y) * (left.y - last.y)
-            );
-            
-            left.position = last.position + distance;
-            left.velocity = distance / seg.dt;
-            left.acceleration = (left.velocity - last.velocity) / seg.dt;
-            left.jerk = (left.acceleration - last.acceleration) / seg.dt;
-        }
-        
+
         right.x = seg.x + (w * sin_angle);
         right.y = seg.y - (w * cos_angle);
-        
+
         if (i > 0) {
-            Segment last = right_traj[i - 1];
-            double distance = sqrt(
-                (right.x - last.x) * (right.x - last.x)
-                + (right.y - last.y) * (right.y - last.y)
+            Segment last_seg = original[i - 1];
+            Segment last_left = left_traj[i - 1];
+            Segment last_right = right_traj[i - 1];
+
+            double left_distance = sqrt(
+                (left.x - last_left.x) * (left.x - last_left.x)
+                + (left.y - last_left.y) * (left.y - last_left.y)
+            );
+            if ((last_seg.x > seg.x && last_left.x < left.x) || (last_seg.y > seg.y && last_left.y < left.y) ||
+                (last_seg.x < seg.x && last_left.x > left.x) || (last_seg.y < seg.y && last_left.y > left.y)) {
+                    left_distance = -left_distance;
+            }
+
+            double right_distance = sqrt(
+                (right.x - last_right.x) * (right.x - last_right.x)
+                + (right.y - last_right.y) * (right.y - last_right.y)
             );
-            
-            right.position = last.position + distance;
-            right.velocity = distance / seg.dt;
-            right.acceleration = (right.velocity - last.velocity) / seg.dt;
-            right.jerk = (right.acceleration - last.acceleration) / seg.dt;
+            if ((last_seg.x > seg.x && last_right.x < right.x) || (last_seg.y > seg.y && last_right.y < right.y) ||
+                (last_seg.x < seg.x && last_right.x > right.x) || (last_seg.y < seg.y && last_right.y > right.y)) {
+                     right_distance = -right_distance;
+             }
+
+            left.position = last_left.position + left_distance;
+            left.velocity = left_distance / seg.dt;
+            left.acceleration = (left.velocity - last_left.velocity) / seg.dt;
+            left.jerk = (left.acceleration - last_left.acceleration) / seg.dt;
+
+            right.position = last_right.position + right_distance;
+            right.velocity = right_distance / seg.dt;
+            right.acceleration = (right.velocity - last_right.velocity) / seg.dt;
+            right.jerk = (right.acceleration - last_right.acceleration) / seg.dt;
         }
         
         left_traj[i] = left;
diff --git a/build.gradle b/build.gradle
index f0f122d..b365acc 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
-    id "jaci.openrio.gradle.GradleRIO" version "2018.01.07" apply false
-    id "jaci.gradle.EmbeddedTools" version "2018.01.06b" apply false
+    id "jaci.openrio.gradle.GradleRIO" version "2018.02.17" apply false
+    id "jaci.gradle.EmbeddedTools" version "2018.02.04" apply false
 }
 
 allprojects {
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index 225bf9a..85bcf49 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
-#Mon Jan 08 18:23:30 AWST 2018
+#Fri Feb 16 20:00:20 EST 2018
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-4.4-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-4.4-all.zip