diff --git a/axi/device.py b/axi/device.py
index cf0959c..ccdf714 100644
--- a/axi/device.py
+++ b/axi/device.py
@@ -26,12 +26,12 @@ PEN_DOWN_POSITION = 45
 PEN_DOWN_SPEED = 150
 PEN_DOWN_DELAY = 0
 
-ACCELERATION = 5
+ACCELERATION = 6
 MAX_VELOCITY = 1
-CORNER_FACTOR = 0.005
+CORNER_FACTOR = 0.005*3
 
 JOG_ACCELERATION = 8
-JOG_MAX_VELOCITY = 6
+JOG_MAX_VELOCITY = 5
 
 VID_PID = '04D8:FD92'
 
@@ -170,6 +170,11 @@ class Device(object):
         self.run_plan(plan)
 
     def run_drawing(self, drawing, progress=True):
+        print 'number of paths : %d' % len(drawing.paths)
+        print 'pen down length : %g' % drawing.down_length
+        print 'pen up length   : %g' % drawing.up_length
+        print 'total length    : %g' % drawing.length
+        print 'drawing bounds  : %s' % str(drawing.bounds)
         self.pen_up()
         position = (0, 0)
         bar = Bar(drawing.length, enabled=progress)
diff --git a/axi/drawing.py b/axi/drawing.py
index 8d5921d..a468315 100644
--- a/axi/drawing.py
+++ b/axi/drawing.py
@@ -1,6 +1,6 @@
 from __future__ import division
 
-from math import sin, cos, radians
+from math import sin, cos, radians, hypot
 
 from .paths import (
     simplify_paths, sort_paths, join_paths, crop_paths, convex_hull,
@@ -19,6 +19,7 @@ class Drawing(object):
     def dirty(self):
         self._bounds = None
         self._length = None
+        self._down_length = None
         self._hull = None
 
     @classmethod
@@ -96,9 +97,24 @@ class Drawing(object):
     @property
     def length(self):
         if self._length is None:
-            self._length = paths_length(self.paths)
+            length = self._down_length
+            for p0, p1 in zip(self.paths, self.paths[1:]):
+                x0, y0 = p0[-1]
+                x1, y1 = p1[0]
+                length += hypot(x1 - x0, y1 - y0)
+            self._length = length
         return self._length
 
+    @property
+    def up_length(self):
+        return self.length - self.down_length
+
+    @property
+    def down_length(self):
+        if self._down_length is None:
+            self._down_length = paths_length(self.paths)
+        return self._down_length
+
     @property
     def width(self):
         x1, y1, x2, y2 = self.bounds
diff --git a/examples/paths.py b/examples/paths.py
index 0190850..1a0007b 100644
--- a/examples/paths.py
+++ b/examples/paths.py
@@ -14,7 +14,7 @@ def main():
     # print len(d.paths)
     print 'transforming paths'
     # d = d.scale(1, -1)
-    d = d.rotate(180)
+    # d = d.rotate(180)
     d = d.rotate_and_scale_to_fit(12, 8.5, step=90)
     print 'sorting paths'
     d = d.sort_paths()