diff --git a/EscapeTheGhost/Assets/Cellulo.cs b/EscapeTheGhost/Assets/Cellulo.cs
index 340f027..673113c 100644
--- a/EscapeTheGhost/Assets/Cellulo.cs
+++ b/EscapeTheGhost/Assets/Cellulo.cs
@@ -1,124 +1,124 @@
 using UnityEngine;
 using System.Collections;
 using System.Runtime.InteropServices;
 
 public class Cellulo {
     // id inside the library
     private long id;
     
     // constructor: connect to robot
     public Cellulo(string macAddr, string localAdapterMacAddr)
     {
         id = newRobot();
         setLocalAdapterMacAddr(id, localAdapterMacAddr);
         setMacAddr(id, macAddr);
         connectToServer(id);
     }
 
     // disconnect from robot on exit
     ~Cellulo() {
         destroyRobot(id);
     }
 
     // Cellulo methods export below...
     [DllImport ("cellulo-unity")]
     private static extern long newRobot();
     [DllImport ("cellulo-unity")]
     private static extern void destroyRobot(long id);
     [DllImport ("cellulo-unity")]
     private static extern void setLocalAdapterMacAddr(long robot, string localAdapterMacAddr);
     [DllImport ("cellulo-unity")]
     private static extern void setAutoConnect(long robot, long autoConnect);
     [DllImport ("cellulo-unity")]
     private static extern void setMacAddr(long robot, string macAddr);
     
     [DllImport ("cellulo-unity")]
     private static extern void connectToServer(long robot);
     
     [DllImport ("cellulo-unity")]
     private static extern void setGoalVelocity(long robot, float vx, float vy, float w);
     public void setGoalVelocity(float vx, float vy, float w) {
-        setGoalVelocity(id, vx, vy, w);
+        setGoalVelocity(id, vx, -vy, w);
     }
     
     [DllImport ("cellulo-unity")]
     private static extern void setGoalPose(long robot, float x, float y, float theta, float v, float w);
     public void setGoalPose(float x, float y, float theta, float v, float w) {
-        setGoalPose(id, x, y, theta, v, w);
+        setGoalPose(id, x, -y, theta, v, w);
     }
     
     [DllImport ("cellulo-unity")]
     private static extern void setGoalPosition(long robot, float x, float y, float v);
     public void setGoalPosition(float x, float y, float v) {
-        setGoalPosition(id, x, y, v);
+        setGoalPosition(id, x, -y, v);
     }
     
     [DllImport ("cellulo-unity")]
     private static extern void clearTracking(long robot);
     public void clearTracking() {
         clearTracking(id);
     }
     
     [DllImport ("cellulo-unity")]
     private static extern void clearHapticFeedback(long robot);
     public void clearHapticFeedback() {
         clearHapticFeedback(id);
     }
     
     [DllImport ("cellulo-unity")]
     private static extern void setVisualEffect(long robot, long effect, long r, long g, long b, long value);
     public void setVisualEffect(long effect, long r, long g, long b, long value) {
         setVisualEffect(id, effect, r, g, b, value);
     }
     
     
     [DllImport ("cellulo-unity")]
     private static extern void setCasualBackdriveAssistEnabled(long robot, long enabled);
     public void setCasualBackdriveAssistEnabled(long enabled) {
         setCasualBackdriveAssistEnabled(id, enabled);
     }
     
     [DllImport ("cellulo-unity")]
     private static extern void setHapticBackdriveAssist(long robot, float xAssist, float yAssist, float thetaAssist);
     public void setHapticBackdriveAssist(float xAssist, float yAssist, float thetaAssist) {
         setHapticBackdriveAssist(id, xAssist, yAssist, thetaAssist);
     }
     
     [DllImport ("cellulo-unity")]
     private static extern void reset(long robot);
     public void reset() {
         reset(id);
     }
     
     [DllImport ("cellulo-unity")]
     private static extern void simpleVibrate(long robot, float iX, float iY, float iTheta, long period, long duration);
     public void simpleVibrate(float iX, float iY, float iTheta, long period, long duration) {
         simpleVibrate(id, iX, iY, iTheta, period, duration);
     }
     
     [DllImport ("cellulo-unity")]
     private static extern float getX(long robot);
     public float getX() {
         return getX(id);
     }
     
     [DllImport ("cellulo-unity")]
     private static extern float getY(long robot);
     public float getY() {
         // Unity's y is up
         return -getY(id);
     }
     
     [DllImport ("cellulo-unity")]
     private static extern float getTheta(long robot);
     public float getTheta() {
         return getTheta(id);
     }
     
     [DllImport ("cellulo-unity")]
     private static extern long getKidnapped(long robot);
     public long getKidnapped() {
         return getKidnapped(id);
     }
 
 }