diff --git a/rb_ws/src/buggy/scripts/auton/autonsystem.py b/rb_ws/src/buggy/scripts/auton/autonsystem.py
index ede3ddab..632289c4 100755
--- a/rb_ws/src/buggy/scripts/auton/autonsystem.py
+++ b/rb_ws/src/buggy/scripts/auton/autonsystem.py
@@ -138,10 +138,12 @@ def tick_caller(self):
         while (not rospy.is_shutdown()):
             # start the actual control loop
             # run the planner every 10 ticks
-            # thr main cycle runs at 100hz, the planner runs at 10hz, but looks 1 second ahead
-
-            if not self.other_odom_msg is None and self.ticks % 10 == 0:
+            # the main cycle runs at 100hz, the planner runs at 10hz.
+            # See LOOKAHEAD_TIME in path_planner.py for the horizon of the
+            # planner. Make sure it is significantly (at least 2x) longer
+            # than 1 period of the planner when you change the planner frequency.
 
+            if not self.other_odom_msg is None and self.ticks == 0:
                 # for debugging, publish distance to other buggy
                 with self.lock:
                     self_pose, _ = self.get_world_pose_and_speed(self.self_odom_msg)
@@ -157,7 +159,12 @@ def tick_caller(self):
                     self.planner_tick()
 
             self.local_controller_tick()
+
             self.ticks += 1
+
+            if self.ticks >= 10:
+                self.ticks = 0
+
             self.rosrate.sleep()
 
 
diff --git a/rb_ws/src/buggy/scripts/auton/path_planner.py b/rb_ws/src/buggy/scripts/auton/path_planner.py
index 62a06c6b..1d42592e 100755
--- a/rb_ws/src/buggy/scripts/auton/path_planner.py
+++ b/rb_ws/src/buggy/scripts/auton/path_planner.py
@@ -9,22 +9,20 @@
 from path_projection import Projector
 from trajectory import Trajectory
 from world import World
-
-LOOKAHEAD_TIME = 2.0 #s
-RESOLUTION = 30 #samples/s
-PASSING_OFFSET = 2 #m
-# in meters, the number of meters behind NAND before we start morphing the trajectory
-REAR_MARGIN = 10
-
-# in meters, the number of meters in front of NAND,
-# before the morphed trajectory rejoins the nominal trajectory
-# WARNING: set this value to be greater than 10m/s * lookahead time (10 m/s is the upper limit
-# of NAND speed) Failure to do so can result violent u-turns in the new trajectory.
-
-FRONT_MARGIN = 30
-
 class PathPlanner():
-    def __init__(self, nominal_traj) -> None:
+    LOOKAHEAD_TIME = 2.0 #s
+    RESOLUTION = 30 #samples/s
+    PASSING_OFFSET = 2 #m
+    # in meters, the number of meters behind NAND before we start morphing the trajectory
+    REAR_MARGIN = 10 #m
+
+    # in meters, the number of meters in front of NAND,
+    # before the morphed trajectory rejoins the nominal trajectory
+    # WARNING: set this value to be greater than 15m/s * lookahead time (10 m/s is the upper limit
+    # of NAND speed) Failure to do so can result violent u-turns in the new trajectory.
+    FRONT_MARGIN = 35 #m
+
+    def __init__(self, nominal_traj:Trajectory) -> None:
         self.occupancy_grid = OccupancyGrid()
 
         # TODO: update with NAND wheelbase
@@ -42,7 +40,6 @@ def __init__(self, nominal_traj) -> None:
         self.debug_grid_cost_publisher = rospy.Publisher(
             "/auton/debug/grid_cost", Float64, queue_size=0
         )
-        self.last_cmd = 0
         self.nominal_traj = nominal_traj
 
         # TODO: estimate this value based on the curvature of NAND's recent positions
@@ -51,36 +48,58 @@ def __init__(self, nominal_traj) -> None:
     def compute_traj(
         self,
         other_pose: Pose, #Currently NAND's location -- To be Changed
-        other_speed: float):
+        other_speed: float) -> Trajectory:
+        """
+        draw trajectory, such that the section of the
+        trajectory near NAND is replaced by a new segment:
+        #1. the nominal trajectory, until REAR_MARGIN behind NAND
+        #2. passing targets
+        #3. nominal trajectory, starting at FRONT_MARGIN ahead of NAND
+
+        To generate the passing targets, we take NAND's future positions,
+        shifted along normal of nominal trajectory by PASSING_OFFSET
+
+        Since they are shifted by a fixed distance, this approach assumes NAND's
+        trajectory is similar to that of ego-buggy (short-circuit).
 
-        # draw trajectory, such that the section of the
-        # trajectory near NAND is replace by a new segment:
+        TODO: shift the future positions while taking into account smoothness of the path,
+        as well as curbs, such that even if NAND's trajectory is different from ego-buggy,
+        the generated passing targets will be safe.
 
-        # 1. the global path, at 10m behind NAND
-        # 2. NAND's projected locations, where each location is
-        # shifted to the left along the normal of the trajectory vector
+        Args:
+            other_pose (Pose): Pose containing NAND's easting (x),
+                northing(y), and heading (theta), in "world" cooridnates,
+                which is UTM, shifted so that the origin is near the course.
 
-        other_idx = self.nominal_traj.get_closest_index_on_path(
+                See world.py
+
+            other_speed (float): speed in m/s of NAND
+
+        Returns:
+            Trajectory: new trajectory object for ego-buggy to follow.
+        """
+
+        other_idx:float = self.nominal_traj.get_closest_index_on_path(
             other_pose.x,
             other_pose.y)
         #other is just NAND, for general purposes consider it other
 
-        new_segment_start_idx = self.nominal_traj.get_index_from_distance(
-                self.nominal_traj.get_distance_from_index(other_idx) - 10
+        new_segment_start_idx:float = self.nominal_traj.get_index_from_distance(
+                self.nominal_traj.get_distance_from_index(other_idx) - self.REAR_MARGIN
             ) #Where new path index starts, CONSTANT delta from NAND
 
-        new_segment_end_idx = self.nominal_traj.get_index_from_distance(
-                self.nominal_traj.get_distance_from_index(other_idx) + 30
+        new_segment_end_idx:float = self.nominal_traj.get_index_from_distance(
+                self.nominal_traj.get_distance_from_index(other_idx) + self.FRONT_MARGIN
             )
 
         # project other buggy path
         # TODO: put other buggy command
-        other_future_poses = self.path_projector.project(
+        other_future_poses:list = self.path_projector.project(
             other_pose,
             self.other_steering_angle,
             other_speed,
-            LOOKAHEAD_TIME,
-            RESOLUTION)
+            self.LOOKAHEAD_TIME,
+            self.RESOLUTION)
 
         other_future_poses_idxs = np.empty((len(other_future_poses), ))
 
@@ -91,16 +110,10 @@ def compute_traj(
                     other_future_poses[i][1],
                     start_index=other_idx)
 
-        future_pose_unit_normal = self.nominal_traj.get_unit_normal_by_index(
+        future_pose_unit_normal:np.typing.NDArray = self.nominal_traj.get_unit_normal_by_index(
             other_future_poses_idxs
         )
-
-        # the first passing target is 10 meters backward from NAND's position
-        passing_targets = np.array(
-            [self.nominal_traj.get_position_by_index(new_segment_start_idx)])
-
-        passing_targets = np.vstack((passing_targets,
-            other_future_poses + PASSING_OFFSET * future_pose_unit_normal))
+        passing_targets = other_future_poses + self.PASSING_OFFSET * future_pose_unit_normal
 
         pre_slice = self.nominal_traj.positions[:int(new_segment_start_idx), :]
         post_slice = self.nominal_traj.positions[int(new_segment_end_idx):, :]