diff --git a/software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt b/software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt
index aa31534..820d1c8 100644
--- a/software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt
+++ b/software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt
@@ -184,7 +184,7 @@ class ControlActivity : AppCompatActivity() {
                     val coorY = touchY - rightHeight / 2
 
                     val length = sqrt(coorX.pow(2) + coorY.pow(2))
-                    if (length < rightRadius / 3) {
+                    if (length < rightRadius / 4) {
                         if (currentState != CMD_STANDBY) {
                             sendMessageAsync(CMD_STANDBY)
                             currentState = CMD_STANDBY
@@ -192,7 +192,7 @@ class ControlActivity : AppCompatActivity() {
 
                             leftControlImage!!.setImageResource(R.drawable.ic_control_left)
                         }
-                    } else if (length >= rightRadius / 3 && length < 2 * rightRadius / 3) {
+                    } else if (length >= rightRadius / 4 && length < 2 * rightRadius / 3) {
                         val angle = atan2(coorY, coorX)
                         if (angle > -7 * PI / 8 && angle < -5 * PI / 8) {
                             if (currentState != CMD_WALK_L45) {
diff --git a/software/android/app/src/main/res/drawable/ic_control_circle.xml b/software/android/app/src/main/res/drawable/ic_control_circle.xml
index 4d2cc54..e24ea8d 100644
--- a/software/android/app/src/main/res/drawable/ic_control_circle.xml
+++ b/software/android/app/src/main/res/drawable/ic_control_circle.xml
@@ -30,8 +30,8 @@
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
   <path
-      android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
-      android:strokeWidth="0.999998"
+      android:pathData="M123.483,123.483a37.5,37.5 53.174,1 0,53.033 53.033a37.5,37.5 53.174,1 0,-53.033 -53.033z"
+      android:strokeWidth="0.749999"
       android:fillColor="#000000"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
diff --git a/software/android/app/src/main/res/drawable/ic_control_circle_fastbackward.xml b/software/android/app/src/main/res/drawable/ic_control_circle_fastbackward.xml
index a76dbe8..79150d7 100644
--- a/software/android/app/src/main/res/drawable/ic_control_circle_fastbackward.xml
+++ b/software/android/app/src/main/res/drawable/ic_control_circle_fastbackward.xml
@@ -36,8 +36,8 @@
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
   <path
-      android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
-      android:strokeWidth="0.999998"
+      android:pathData="M123.483,123.483a37.5,37.5 53.174,1 0,53.033 53.033a37.5,37.5 53.174,1 0,-53.033 -53.033z"
+      android:strokeWidth="0.749999"
       android:fillColor="#000000"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
diff --git a/software/android/app/src/main/res/drawable/ic_control_circle_fastforward.xml b/software/android/app/src/main/res/drawable/ic_control_circle_fastforward.xml
index 309bad4..7bccc3a 100644
--- a/software/android/app/src/main/res/drawable/ic_control_circle_fastforward.xml
+++ b/software/android/app/src/main/res/drawable/ic_control_circle_fastforward.xml
@@ -36,8 +36,8 @@
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
   <path
-      android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
-      android:strokeWidth="0.999998"
+      android:pathData="M123.483,123.483a37.5,37.5 53.174,1 0,53.033 53.033a37.5,37.5 53.174,1 0,-53.033 -53.033z"
+      android:strokeWidth="0.749999"
       android:fillColor="#000000"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
diff --git a/software/android/app/src/main/res/drawable/ic_control_circle_standby.xml b/software/android/app/src/main/res/drawable/ic_control_circle_standby.xml
index 37aab9d..c9a23aa 100644
--- a/software/android/app/src/main/res/drawable/ic_control_circle_standby.xml
+++ b/software/android/app/src/main/res/drawable/ic_control_circle_standby.xml
@@ -30,8 +30,8 @@
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
   <path
-      android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
-      android:strokeWidth="0.999998"
+      android:pathData="M123.483,123.483a37.5,37.5 53.174,1 0,53.033 53.033a37.5,37.5 53.174,1 0,-53.033 -53.033z"
+      android:strokeWidth="0.749999"
       android:fillColor="#6200ee"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
diff --git a/software/android/app/src/main/res/drawable/ic_control_circle_turnleft.xml b/software/android/app/src/main/res/drawable/ic_control_circle_turnleft.xml
index 4bcba97..a725f91 100644
--- a/software/android/app/src/main/res/drawable/ic_control_circle_turnleft.xml
+++ b/software/android/app/src/main/res/drawable/ic_control_circle_turnleft.xml
@@ -36,8 +36,8 @@
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
   <path
-      android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
-      android:strokeWidth="0.999998"
+      android:pathData="M123.483,123.483a37.5,37.5 53.174,1 0,53.033 53.033a37.5,37.5 53.174,1 0,-53.033 -53.033z"
+      android:strokeWidth="0.749999"
       android:fillColor="#000000"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
diff --git a/software/android/app/src/main/res/drawable/ic_control_circle_turnright.xml b/software/android/app/src/main/res/drawable/ic_control_circle_turnright.xml
index 1405aec..949cbe4 100644
--- a/software/android/app/src/main/res/drawable/ic_control_circle_turnright.xml
+++ b/software/android/app/src/main/res/drawable/ic_control_circle_turnright.xml
@@ -36,8 +36,8 @@
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
   <path
-      android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
-      android:strokeWidth="0.999998"
+      android:pathData="M123.483,123.483a37.5,37.5 53.174,1 0,53.033 53.033a37.5,37.5 53.174,1 0,-53.033 -53.033z"
+      android:strokeWidth="0.749999"
       android:fillColor="#000000"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
diff --git a/software/android/app/src/main/res/drawable/ic_control_circle_walk_0.xml b/software/android/app/src/main/res/drawable/ic_control_circle_walk_0.xml
index e148982..5bba0ee 100644
--- a/software/android/app/src/main/res/drawable/ic_control_circle_walk_0.xml
+++ b/software/android/app/src/main/res/drawable/ic_control_circle_walk_0.xml
@@ -36,8 +36,8 @@
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
   <path
-      android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
-      android:strokeWidth="0.999998"
+      android:pathData="M123.483,123.483a37.5,37.5 53.174,1 0,53.033 53.033a37.5,37.5 53.174,1 0,-53.033 -53.033z"
+      android:strokeWidth="0.749999"
       android:fillColor="#000000"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
diff --git a/software/android/app/src/main/res/drawable/ic_control_circle_walk_180.xml b/software/android/app/src/main/res/drawable/ic_control_circle_walk_180.xml
index c141ec8..f67d41c 100644
--- a/software/android/app/src/main/res/drawable/ic_control_circle_walk_180.xml
+++ b/software/android/app/src/main/res/drawable/ic_control_circle_walk_180.xml
@@ -36,8 +36,8 @@
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
   <path
-      android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
-      android:strokeWidth="0.999998"
+      android:pathData="M123.483,123.483a37.5,37.5 53.174,1 0,53.033 53.033a37.5,37.5 53.174,1 0,-53.033 -53.033z"
+      android:strokeWidth="0.749999"
       android:fillColor="#000000"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
diff --git a/software/android/app/src/main/res/drawable/ic_control_circle_walk_l135.xml b/software/android/app/src/main/res/drawable/ic_control_circle_walk_l135.xml
index 031057f..8dab0e3 100644
--- a/software/android/app/src/main/res/drawable/ic_control_circle_walk_l135.xml
+++ b/software/android/app/src/main/res/drawable/ic_control_circle_walk_l135.xml
@@ -36,8 +36,8 @@
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
   <path
-      android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
-      android:strokeWidth="0.999998"
+      android:pathData="M123.483,123.483a37.5,37.5 53.174,1 0,53.033 53.033a37.5,37.5 53.174,1 0,-53.033 -53.033z"
+      android:strokeWidth="0.749999"
       android:fillColor="#000000"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
diff --git a/software/android/app/src/main/res/drawable/ic_control_circle_walk_l45.xml b/software/android/app/src/main/res/drawable/ic_control_circle_walk_l45.xml
index 552e29b..365ffa3 100644
--- a/software/android/app/src/main/res/drawable/ic_control_circle_walk_l45.xml
+++ b/software/android/app/src/main/res/drawable/ic_control_circle_walk_l45.xml
@@ -36,8 +36,8 @@
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
   <path
-      android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
-      android:strokeWidth="0.999998"
+      android:pathData="M123.483,123.483a37.5,37.5 53.174,1 0,53.033 53.033a37.5,37.5 53.174,1 0,-53.033 -53.033z"
+      android:strokeWidth="0.749999"
       android:fillColor="#000000"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
diff --git a/software/android/app/src/main/res/drawable/ic_control_circle_walk_l90.xml b/software/android/app/src/main/res/drawable/ic_control_circle_walk_l90.xml
index b66b4b4..b3c5ff9 100644
--- a/software/android/app/src/main/res/drawable/ic_control_circle_walk_l90.xml
+++ b/software/android/app/src/main/res/drawable/ic_control_circle_walk_l90.xml
@@ -36,8 +36,8 @@
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
   <path
-      android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
-      android:strokeWidth="0.999998"
+      android:pathData="M123.483,123.483a37.5,37.5 53.174,1 0,53.033 53.033a37.5,37.5 53.174,1 0,-53.033 -53.033z"
+      android:strokeWidth="0.749999"
       android:fillColor="#000000"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
diff --git a/software/android/app/src/main/res/drawable/ic_control_circle_walk_r135.xml b/software/android/app/src/main/res/drawable/ic_control_circle_walk_r135.xml
index 650e826..fb86358 100644
--- a/software/android/app/src/main/res/drawable/ic_control_circle_walk_r135.xml
+++ b/software/android/app/src/main/res/drawable/ic_control_circle_walk_r135.xml
@@ -36,8 +36,8 @@
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
   <path
-      android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
-      android:strokeWidth="0.999998"
+      android:pathData="M123.483,123.483a37.5,37.5 53.174,1 0,53.033 53.033a37.5,37.5 53.174,1 0,-53.033 -53.033z"
+      android:strokeWidth="0.749999"
       android:fillColor="#000000"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
diff --git a/software/android/app/src/main/res/drawable/ic_control_circle_walk_r45.xml b/software/android/app/src/main/res/drawable/ic_control_circle_walk_r45.xml
index 46ae7f7..32105a9 100644
--- a/software/android/app/src/main/res/drawable/ic_control_circle_walk_r45.xml
+++ b/software/android/app/src/main/res/drawable/ic_control_circle_walk_r45.xml
@@ -36,8 +36,8 @@
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
   <path
-      android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
-      android:strokeWidth="0.999998"
+      android:pathData="M123.483,123.483a37.5,37.5 53.174,1 0,53.033 53.033a37.5,37.5 53.174,1 0,-53.033 -53.033z"
+      android:strokeWidth="0.749999"
       android:fillColor="#000000"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
diff --git a/software/android/app/src/main/res/drawable/ic_control_circle_walk_r90.xml b/software/android/app/src/main/res/drawable/ic_control_circle_walk_r90.xml
index a472b72..2fb8894 100644
--- a/software/android/app/src/main/res/drawable/ic_control_circle_walk_r90.xml
+++ b/software/android/app/src/main/res/drawable/ic_control_circle_walk_r90.xml
@@ -36,8 +36,8 @@
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
   <path
-      android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
-      android:strokeWidth="0.999998"
+      android:pathData="M123.483,123.483a37.5,37.5 53.174,1 0,53.033 53.033a37.5,37.5 53.174,1 0,-53.033 -53.033z"
+      android:strokeWidth="0.749999"
       android:fillColor="#000000"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>