diff --git a/Makefile b/Makefile
index d66ae71..25aa1d8 100644
--- a/Makefile
+++ b/Makefile
@@ -1,4 +1,3 @@
-SRC := $(wildcard flix/*.ino flix/*.cpp flix/*.hpp)
 BOARD = esp32:esp32:d1_mini32
 PORT := $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP2104_USB_to_UART_Bridge_Controller_* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-*)
 PORT := $(strip $(PORT))
@@ -31,10 +30,10 @@ simulator: build_simulator
 	GAZEBO_PLUGIN_PATH=$$GAZEBO_PLUGIN_PATH:${CURDIR}/gazebo/build \
 	gazebo --verbose ${CURDIR}/gazebo/flix.world
 
-grab_log:
+log:
 	PORT=$(PORT) tools/grab_log.py
 
 clean:
 	rm -rf gazebo/build flix/build flix/cache .dependencies
 
-.PHONY: build upload monitor dependencies cmake build_simulator simulator grab_log clean
+.PHONY: build upload monitor dependencies cmake build_simulator simulator log clean
diff --git a/flix/vector.h b/flix/vector.h
index 2d1b1ee..105f6df 100644
--- a/flix/vector.h
+++ b/flix/vector.h
@@ -32,7 +32,7 @@ public:
 		z /= n;
 	}
 
-	Vector operator * (float b)
+	Vector operator * (const float b) const
 	{
 		return Vector(x * b, y * b, z * b);
 	}
diff --git a/gazebo/models/floor/floor.sdf b/gazebo/models/floor/floor.sdf
index 9363daf..5898d2d 100644
--- a/gazebo/models/floor/floor.sdf
+++ b/gazebo/models/floor/floor.sdf
@@ -1,31 +1,31 @@
-<?xml version="1.0" ?>
+<?xml version="1.0"?>
 <sdf version="1.5">
-  <model name="floor">
-    <static>true</static>
-    <link name="link">
-      <pose>0 0 -0.02 0 0 0</pose>
-      <collision name="collision">
-        <geometry>
-          <box>
-            <size>200 200 .02</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="visual">
-        <cast_shadows>false</cast_shadows>
-        <geometry>
-          <box>
-            <size>200 200 .02</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>model://floor/materials/scripts</uri>
-            <uri>model://floor/materials/textures</uri>
-            <name>parquet</name>
-          </script>
-        </material>
-      </visual>
-    </link>
-  </model>
+	<model name="floor">
+		<static>true</static>
+		<link name="link">
+			<pose>0 0 -0.02 0 0 0</pose>
+			<collision name="collision">
+				<geometry>
+					<box>
+						<size>200 200 .02</size>
+					</box>
+				</geometry>
+			</collision>
+			<visual name="visual">
+				<cast_shadows>false</cast_shadows>
+				<geometry>
+					<box>
+						<size>200 200 .02</size>
+					</box>
+				</geometry>
+				<material>
+					<script>
+						<uri>model://floor/materials/scripts</uri>
+						<uri>model://floor/materials/textures</uri>
+						<name>parquet</name>
+					</script>
+				</material>
+			</visual>
+		</link>
+	</model>
 </sdf>