diff --git a/main.py b/main.py
index 35c6efc..30151f4 100644
--- a/main.py
+++ b/main.py
@@ -14,7 +14,7 @@ first_agent = CAMSReverseAndSidestepAgent(
     environment=env, 
     position=(50,50), 
     initial_direction=Direction.NORTH,
-    required_resources=300
+    required_resources=500
 )
 
 im = ax.imshow(env.render(), aspect="equal", origin="lower")
diff --git a/sim.py b/sim.py
index 000b515..78354b5 100644
--- a/sim.py
+++ b/sim.py
@@ -222,7 +222,14 @@ class CAMSReverseAndSidestepAgent(DirectionalAgent):
                 initial_direction=self.direction,
                 required_resources=self.required_resources
             )
-            self.reverse_direction()
+            if self.number_of_turns == 0:
+                self.reverse_direction()
+                self.number_of_turns += 1
+            elif self.number_of_turns > 0:
+                self.turn_right()
+                self.move_forward()
+                self.turn_right()
+                self.number_of_turns = 0
         else:
             self.move_forward()