diff --git a/config/control-config.yaml b/config/control-config.yaml
index 80bbe66d87876352396a2d3238f2f8625038b722..c7ff5b8aaf3dd7d43a75e3e027bc2413a82815b4 100644
--- a/config/control-config.yaml
+++ b/config/control-config.yaml
@@ -4,8 +4,8 @@
         angular: true
         clamp: 15.0
         inverted: false
-        kd: 0.9
-        ki: 0.0
-        kp: 0.04
+        kd: 1.0
+        ki: 0.1
+        kp: 0.05
         start_type_description_service: true
         use_sim_time: false
diff --git a/launch/step_1.launch.py b/launch/step_1.launch.py
index 2908c5e31e5e82e8b15f94ba0f50ad109b5e311f..cc31152af50f21027a705163d307c74434b0cb3d 100644
--- a/launch/step_1.launch.py
+++ b/launch/step_1.launch.py
@@ -14,13 +14,15 @@ def generate_launch_description():
             package='lesson_06',
             namespace='waterstrider',
             executable='step_1',
-            name='controller'
+            name='controller',
+	    output = 'screen'
         ),
         Node(
             package='lesson_06',
             namespace='waterstrider',
             executable='pid_node',
             name='pid',
+	    output = 'screen'
             parameters=[config_file]
         )
     ])
diff --git a/lesson_06/step_1.py b/lesson_06/step_1.py
new file mode 100644
index 0000000000000000000000000000000000000000..a3dedf6cfc8fe855358f55e980f3b57763b5015f
--- /dev/null
+++ b/lesson_06/step_1.py
@@ -0,0 +1,84 @@
+import rclpy
+from pid_node import PID
+from rclpy.node import Node
+from std_msgs.msg import Float64
+from geometry_msgs.msg import Twist
+from geometry_msgs.msg import PoseStamped
+from tf_transformations import euler_from_quaternion
+import math
+
+def get_yaw_from_quaternion(q):
+    return euler_from_quaternion([q.x, q.y, q.z, q.w])[2]
+
+class RurMover(Node):
+    def __init__(self):
+        super().__init__('controller')
+        self.publisher_twist = self.create_publisher(Twist, '/waterstrider/twist_command', 10)
+        self.pose_subscriber = self.create_subscription(PoseStamped, '/waterstrider/ground_truth_to_tf_waterstrider/pose', self.pose_callback, 10)
+        self.PID_setpoint = self.create_publisher(Float64, 'pid/setpoint', 10) 
+        self.PID_output = self.create_subscription(Float64, 'pid/ouyput', self.PID_output_callback, 10) 
+        self.PID_state = self.create_publisher(Float64, 'pid/state', 10) 
+        self.SIDE_TIME = 10.0
+        self.LINEAR_SPEED = 1.0
+        self.desired_heading = - math.pi / 2
+        self.timer = self.create_timer(self.SIDE_TIME, self.pub_timer_callback)
+        self.pose_history = []
+
+        msgSetPoint = Float64()
+        msgSetPoint.date = self.desired_heading
+        self.PID_setpoint.publish(msgSetPoint)
+
+    def PID_output_callback(self, msg):
+        self.PID_angular = msg.date
+
+    def pose_callback(self, msg):
+        heading = get_yaw_from_quaternion(msg.pose.orientation)
+        self.get_logger().info('Current heading: "%f"' % heading)
+        self.get_logger().info('Setpoint: "%f"' % self.desired_heading)
+        
+        msg_pub = Twist()
+        msg_pub.linear.x = self.LINEAR_SPEED
+        msg_pub.angular.z = self.PID_angular
+        self.publisher_twist.publisher(msg_pub)
+
+        self.pose_history.append(msg.pose)
+        if len(self.pose_history) >= 2:
+            cog = self.calculate_cog()
+            self.get_logger().info('cog: "%f"' % cog)
+
+    def calculate_cog(self):
+        P1 = self.pose_history[-2]
+        P2 = self.pose_history[-1]
+        dx = P2.position.x - P1.position.x
+        dy = P2.position.y - P1.position.y
+        return math.atan2(dy, dx)
+
+    def pub_timer_callback(self):
+        self.desired_heading += math.pi / 2
+        self.desired_heading %= 2 * math.pi
+        self.get_logger().info('New angle setpoint: "%f"' % self.desired_heading)
+
+        msgSetPoint = Float64()
+        msgSetpoint.data = self.desired_heading
+        self.PID_setpoint.publish(msgSetPoint)
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    mover = RurMover()
+    PID_node = PID()
+
+    executor = rclpy.executors.MultiThreadeExecutor()
+    executor.add_node(PID_node)
+    executor.add_node(mover)
+    
+    try:
+        executor.spin()
+    finally:
+        executor.shutdown()
+        PID_node.destroy_node()
+        mover.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
diff --git a/setup.py b/setup.py
index 1d4258459be8c7a7075d3e94d7f1b8fbea97ea06..71a8c9f9d9fe101772af65d072d72df38849860c 100644
--- a/setup.py
+++ b/setup.py
@@ -29,9 +29,7 @@ setup(
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            'step_0 = lesson_06.step_0:main',
             'step_1 = lesson_06.step_1:main',
-            'pid_node = lesson_06.pid_node:main',
         ],
     },
 )