diff --git a/source/application/drive_ctrl.c b/source/application/drive_ctrl.c
index 7acc498..421f18b 100644
--- a/source/application/drive_ctrl.c
+++ b/source/application/drive_ctrl.c
@@ -21,6 +21,8 @@ struct drive_ctrl {
 };
 
 struct drive_ctrl_object {
+	unsigned int target_speed;
+	unsigned int turn_speed;
 	unsigned int current_speed;
 };
 
@@ -32,7 +34,9 @@ static struct drive_ctrl drive_ctrl = {
 };
 
 static struct drive_ctrl_object drive_ctrl_object = {
-		.current_speed = 50, /* % */
+		.target_speed = 80,	/* % */
+		.turn_speed = 40,
+		.current_speed = 0,	/* % */
 };
 
 int drive_ctrl_init(void)
@@ -112,14 +116,38 @@ int drive_ctrl_set_speed_right(int speed_percent)
 	return ret;
 }
 
-int drive_ctrl_set_speed_value(int speed_percent)
+int drive_ctrl_set_target_speed_value(int speed_percent)
+{
+	drive_ctrl_object.target_speed = speed_percent;
+
+	return 0;
+}
+
+int drive_ctrl_get_target_speed_value(void)
+{
+	return drive_ctrl_object.target_speed;
+}
+
+int drive_ctrl_set_current_speed_value(int speed_percent)
 {
 	drive_ctrl_object.current_speed = speed_percent;
 
 	return 0;
 }
 
-int drive_ctrl_get_speed_value(void)
+int drive_ctrl_get_current_speed_value(void)
 {
 	return drive_ctrl_object.current_speed;
 }
+
+int drive_ctrl_set_turn_speed_value(int speed_percent)
+{
+	drive_ctrl_object.turn_speed = speed_percent;
+
+	return 0;
+}
+
+int drive_ctrl_get_turn_speed_value(void)
+{
+	return drive_ctrl_object.turn_speed;
+}
diff --git a/source/application/include/drive_ctrl.h b/source/application/include/drive_ctrl.h
index f499a5b..2672ecc 100644
--- a/source/application/include/drive_ctrl.h
+++ b/source/application/include/drive_ctrl.h
@@ -12,8 +12,12 @@ int drive_ctrl_init(void);
 
 int drive_ctrl_set_speed_left(int speed_percent);
 int drive_ctrl_set_speed_right(int speed_percent);
-int drive_ctrl_set_speed_value(int speed_percent);
-int drive_ctrl_get_speed_value(void);
+int drive_ctrl_set_target_speed_value(int speed_percent);
+int drive_ctrl_get_target_speed_value(void);
+int drive_ctrl_set_current_speed_value(int speed_percent);
+int drive_ctrl_get_current_speed_value(void);
+int drive_ctrl_set_turn_speed_value(int speed_percent);
+int drive_ctrl_get_turn_speed_value(void);
 
 
 #endif /* SOURCE_APPLICATION_INCLUDE_DRIVE_CTRL_H_ */
diff --git a/source/application/shell_commands.c b/source/application/shell_commands.c
index 0cb89f8..bb57655 100644
--- a/source/application/shell_commands.c
+++ b/source/application/shell_commands.c
@@ -6,10 +6,15 @@
  */
 #include <stddef.h>
 #include <stdlib.h>
+#include <stdbool.h>
+#include <stdint.h>
 
 #include "list.h"
 #include "driver.h"
 #include "shell.h"
+#include "queue.h"
+#include "stack.h"
+#include "kernel.h"
 #include "drive_ctrl.h"
 #include "version.h"
 
@@ -86,31 +91,35 @@ int shell_commands_init(void)
 
 static void *drive_turn_right_cb(const char *param)
 {
-	int speed = drive_ctrl_get_speed_value();
-	drive_ctrl_set_speed_left(abs(speed));
-	if(speed > 0)
-		speed *= -1;
-	drive_ctrl_set_speed_right(speed);
+	drive_halt_cb(NULL);
+	int turn_speed = drive_ctrl_get_turn_speed_value();
+	for(int i = 0; i < turn_speed; i++) {
+		drive_ctrl_set_speed_left(i);
+		drive_ctrl_set_speed_right(-1 * i);
+		sleep_ms(10);
+	}
 
 	return NULL;
 }
 
 static void *drive_turn_left_cb(const char *param)
 {
-	int speed = drive_ctrl_get_speed_value();
-	drive_ctrl_set_speed_right(abs(speed));
-	if(speed > 0)
-		speed *= -1;
-	drive_ctrl_set_speed_left(speed);
+	drive_halt_cb(NULL);
+	int turn_speed = drive_ctrl_get_turn_speed_value();
+	for(int i = 0; i < turn_speed; i++) {
+		drive_ctrl_set_speed_right(i);
+		drive_ctrl_set_speed_left(-1 * i);
+		sleep_ms(10);
+	}
 
 	return NULL;
 }
 
 static void *drive_boost_cb(const char *param)
 {
-	int speed = drive_ctrl_get_speed_value();
+	int speed = drive_ctrl_get_target_speed_value();
 	speed += 10;
-	drive_ctrl_set_speed_value(speed);
+	drive_ctrl_set_target_speed_value(speed);
 	drive_ctrl_set_speed_left(speed);
 	drive_ctrl_set_speed_right(speed);
 
@@ -119,9 +128,9 @@ static void *drive_boost_cb(const char *param)
 
 static void *drive_retard_cb(const char *param)
 {
-	int speed = drive_ctrl_get_speed_value();
+	int speed = drive_ctrl_get_target_speed_value();
 	speed -= 10;
-	drive_ctrl_set_speed_value(speed);
+	drive_ctrl_set_target_speed_value(speed);
 	drive_ctrl_set_speed_left(speed);
 	drive_ctrl_set_speed_right(speed);
 
@@ -130,32 +139,77 @@ static void *drive_retard_cb(const char *param)
 
 static void *drive_halt_cb(const char *param)
 {
-	drive_ctrl_set_speed_left(0);
-	drive_ctrl_set_speed_right(0);
+	int current_speed = drive_ctrl_get_current_speed_value();
+	if(current_speed > 0) {
+		for(int i = current_speed; i > 0; i--) {
+			drive_ctrl_set_current_speed_value(i);
+			drive_ctrl_set_speed_left(i);
+			drive_ctrl_set_speed_right(i);
+			sleep_ms(10);
+		}
+	}
+	else {
+		for(int i = current_speed; i < 0; i++) {
+			drive_ctrl_set_current_speed_value(i);
+			drive_ctrl_set_speed_left(i);
+			drive_ctrl_set_speed_right(i);
+			sleep_ms(10);
+		}
+	}
 
 	return NULL;
 }
 
 static void *drive_forward_cb(const char *param)
 {
-	int speed = drive_ctrl_get_speed_value();
-	if(speed < 0)
-		speed = abs(speed);
-	drive_ctrl_set_speed_value(speed);
-	drive_ctrl_set_speed_left(speed);
-	drive_ctrl_set_speed_right(speed);
+	int target_speed = drive_ctrl_get_target_speed_value();
+	int current_speed = drive_ctrl_get_current_speed_value();
+	if(target_speed < 0)
+		target_speed = abs(target_speed);
+	drive_ctrl_set_target_speed_value(target_speed);
+	if(current_speed < target_speed) {
+		for(int i = current_speed; i < target_speed; i++) {
+			drive_ctrl_set_current_speed_value(i);
+			drive_ctrl_set_speed_left(i);
+			drive_ctrl_set_speed_right(i);
+			sleep_ms(10);
+		}
+	}
+	else {
+		for(int i = current_speed; i > target_speed; i--) {
+			drive_ctrl_set_current_speed_value(i);
+			drive_ctrl_set_speed_left(i);
+			drive_ctrl_set_speed_right(i);
+			sleep_ms(10);
+		}
+	}
 
 	return NULL;
 }
 
 static void *drive_backward_cb(const char *param)
 {
-	int speed = drive_ctrl_get_speed_value();
-	if(speed > 0)
-		speed *= -1;
-	drive_ctrl_set_speed_value(speed);
-	drive_ctrl_set_speed_left(speed);
-	drive_ctrl_set_speed_right(speed);
+	int target_speed = drive_ctrl_get_target_speed_value();
+	int current_speed = drive_ctrl_get_current_speed_value();
+	if(target_speed > 0)
+		target_speed *= -1;
+	drive_ctrl_set_target_speed_value(target_speed);
+	if(current_speed > target_speed) {
+		for(int i = current_speed; i > target_speed; i--) {
+			drive_ctrl_set_current_speed_value(i);
+			drive_ctrl_set_speed_left(i);
+			drive_ctrl_set_speed_right(i);
+			sleep_ms(10);
+		}
+	}
+	else {
+		for(int i = current_speed; i < target_speed; i++) {
+			drive_ctrl_set_current_speed_value(i);
+			drive_ctrl_set_speed_left(i);
+			drive_ctrl_set_speed_right(i);
+			sleep_ms(10);
+		}
+	}
 
 	return NULL;
 }