diff --git a/src/OptAlgorithm/OptAlgorithm.py b/src/OptAlgorithm/OptAlgorithm.py
index c86e411..e0e8108 100644
--- a/src/OptAlgorithm/OptAlgorithm.py
+++ b/src/OptAlgorithm/OptAlgorithm.py
@@ -116,7 +116,8 @@ class OptAlgorithm(AutoConfigClass):
         dF0 = self.a_max_1 * self.Ts["tclose_1_acc"] * self.k_hardness_1
         
         dFmax = min(self.v_max_1 * self.k_hardness_1, sqrt(self.k_hardness_1/(self.mass_1))* self.Ftogrow)
-        self.Fmeet =  1/ self.freq * sqrt(self.freq**2 * self.Ftogrow**2 - dFmax**2)
+        eps = 1e1
+        self.Fmeet =  1/ self.freq * sqrt(self.freq**2 * self.Ftogrow**2 - dFmax**2 + eps)
         tspeed = self.Ts["tspeed"]
         Fspeed = - self.eff_control * cos(self.freq * tspeed) + self.eff_control + 1/self.freq * dF0 * sin(self.freq * tspeed)
         if t < self.Ts["tspeed"]:
diff --git a/src/OptAlgorithm/OptTimeCalculator.py b/src/OptAlgorithm/OptTimeCalculator.py
index 5b103aa..d5b93af 100644
--- a/src/OptAlgorithm/OptTimeCalculator.py
+++ b/src/OptAlgorithm/OptTimeCalculator.py
@@ -173,7 +173,7 @@ class OptTimeCalculator(AutoConfigClass):
         t5max = (Tfull - v0/a)/2 - t1
         v1 = v0 + a * t1
         S1 = v0*t1 + a*t1*t1/2 + v1*t31 - a*t31*t31/2
-        S2max = abs(Sfull) + abs(S1)
+        S2max = Sfull + S1
         t5 = min(t5max, (vmax)/a, sqrt(S2max / a))
         t3 = abs(v0)/a + t1 + t5
         t32 = t5