diff --git a/src/sdl.c b/src/sdl.c
index ab27553..0d9727e 100644
--- a/src/sdl.c
+++ b/src/sdl.c
@@ -16,9 +16,13 @@ struct {
 };
 int color = 0;
 
+float pitch = 0, yaw = 0;
 float x = 0, y = 0, z = 0;
 static Uint32 drive_timer_handler(Uint32 interval, void* param) {
     robot_drive((Robot)param, x, y, z);
+    robot_aim((Robot)param, pitch, yaw);
+    yaw *= 0.80;
+    pitch *= 0.80;
     return 75;
 }
 static Uint32 heartbeat_timer_handler(Uint32 interval, void* param) {
@@ -47,6 +51,9 @@ int main(int argc, char* argv[]) {
     SDL_AddTimer(75, drive_timer_handler, robot);
     SDL_AddTimer(1000, heartbeat_timer_handler, robot);
 
+    int h, w;
+    SDL_GetWindowSize(win, &w, &h);
+
     while(robot_work(robot)) {
         SDL_Event event;
         while(SDL_PollEvent(&event)) {
@@ -79,8 +86,14 @@ int main(int argc, char* argv[]) {
                         case SDL_SCANCODE_SPACE:
                             robot_led(robot, colors[color].r, colors[color].g, colors[color].b);
                             color = (color + 1) % 3;
+                            break;
                         default: break;
 		            }
+                    break;
+                case SDL_MOUSEMOTION:
+                    yaw = (float)event.motion.xrel;
+                    pitch = (float)event.motion.yrel;
+                    break;
                 case SDL_WINDOWEVENT:
                     if(event.window.event != SDL_WINDOWEVENT_CLOSE) break;
                 case SDL_QUIT: