diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java
index 5171e4d..72e33fb 100644
--- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java
@@ -563,6 +563,11 @@ public class Robot {
         return (fmod < 0 ? fmod + 360.0 : fmod +  0.0) - 180;
     }
 
+    public double lerp(double min, double max, double t)
+    {
+        return min + (max - min) * t;
+    }
+
     public Status getStatus() { return status; }
 
     public double getRadius() { return radius; }
diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/Move.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/Move.java
index e19c613..f54934d 100644
--- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/Move.java
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/Move.java
@@ -1,5 +1,7 @@
 package org.timecrafters.minibots.cyberarm.chiron.states.autonomous;
 
+import com.qualcomm.robotcore.util.Range;
+
 import org.cyberarm.engine.V2.CyberarmState;
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.timecrafters.minibots.cyberarm.chiron.Robot;
@@ -72,8 +74,7 @@ public class Move extends CyberarmState {
     }
 
     private void moveDirectional(double travelledDistance) {
-        double velocity = targetVelocity;
-        double easeVelocity;
+        double velocity;
         double ratio = 1.0;
 
         if (Math.abs(travelledDistance) < easeInDistance) {
@@ -82,10 +83,9 @@ public class Move extends CyberarmState {
             ratio = (targetDistance - Math.abs(travelledDistance)) / easeOutDistance;
         }
 
-        easeVelocity = targetVelocity * ratio;
+        ratio = Range.clip(ratio, 0.0, 1.0);
 
-        if (easeVelocity < minimumVelocity) { easeVelocity = minimumVelocity; }
-        if (easeVelocity < targetVelocity) { velocity = easeVelocity; }
+        velocity = robot.lerp(minimumVelocity, targetVelocity, ratio);
 
         if (targetDistance > travelledDistance) {
             robot.frontRightDrive.setVelocity(-velocity);