diff --git a/Chapter05/src/motion_controllers.rs b/Chapter05/src/motion_controllers.rs
index de56892..9b3f910 100644
--- a/Chapter05/src/motion_controllers.rs
+++ b/Chapter05/src/motion_controllers.rs
@@ -98,7 +98,7 @@ impl MotionController for SmoothMotionController
          //may happen if time delta underflows
          0.0
      } else {
-         0.0
+         target_force
      }
    }
 }
diff --git a/Chapter05/src/motor1.c b/Chapter05/src/motor1.c
index 8cb9bbe..183b8a0 100644
--- a/Chapter05/src/motor1.c
+++ b/Chapter05/src/motor1.c
@@ -1,6 +1,6 @@
 
-int motor1_adjust_motor(double target_force){
+double motor1_adjust_motor(double target_force){
   //real driver would do something here
   //interface with physical components
-  return 0;
+  return target_force;
 }
diff --git a/Chapter05/src/motor2.c b/Chapter05/src/motor2.c
index fc051fa..fec3fe0 100644
--- a/Chapter05/src/motor2.c
+++ b/Chapter05/src/motor2.c
@@ -1,6 +1,6 @@
 
-int motor2_adjust_motor(double target_force){
+double motor2_adjust_motor(double target_force){
   //real driver would do something here
   //interface with physical components
-  return 0;
+  return target_force;
 }
diff --git a/Chapter05/src/motor3.c b/Chapter05/src/motor3.c
index f77136f..1f2922f 100644
--- a/Chapter05/src/motor3.c
+++ b/Chapter05/src/motor3.c
@@ -1,6 +1,6 @@
 
-int motor3_adjust_motor(double target_force){
+double motor3_adjust_motor(double target_force){
   //real driver would do something here
   //interface with physical components
-  return 0;
+  return target_force;
 }
diff --git a/Chapter05/src/physics.rs b/Chapter05/src/physics.rs
index 7f8e4ef..501210f 100644
--- a/Chapter05/src/physics.rs
+++ b/Chapter05/src/physics.rs
@@ -15,7 +15,7 @@ pub struct ElevatorState {
    pub motor_input: f64
 }
 
-pub const MAX_JERK: f64 = 0.2;
+pub const MAX_JERK: f64 = 20.0;
 pub const MAX_ACCELERATION: f64 = 2.0;
 pub const MAX_VELOCITY: f64 = 5.0;
 
diff --git a/Chapter05/test1.txt b/Chapter05/test1.txt
new file mode 100644
index 0000000..3328062
--- /dev/null
+++ b/Chapter05/test1.txt
@@ -0,0 +1,3 @@
+1
+1
+2