diff --git a/main.py b/main.py
index 3a540a6..35c02f2 100644
--- a/main.py
+++ b/main.py
@@ -43,12 +43,16 @@ class MainWindow(QMainWindow):
         # Variables
         self.coordinates = np.empty((0, 2), dtype=int)
         self.robot_size = 35
-        self.handle_size = 10
+        self.handle_size = 15
+        self.rotation_handle_distance = 35
         self.handles = []
+        self.rotation_handles = []
         self.dragging_handle = False
         self.dragging_handle_index = -1
         self.dragging_robot = False
         self.dragging_robot_index = -1
+        self.dragging_rotation_handle = False
+        self.dragging_rotation_handle_index = -1
 
     def mousePressEvent(self, event: QMouseEvent):
         pos = self.image_label.mapFrom(self, event.position().toPoint())
@@ -59,6 +63,7 @@ class MainWindow(QMainWindow):
                 self.coordinates = np.vstack((self.coordinates, [x, y]))
                 if len(self.coordinates) >= 2:
                     self.calculate_handle_pos()
+                self.calculate_rotation_handle_pos()
                 self.draw_scene()
             elif event.button() == Qt.LeftButton:
                 handle_index = self.is_point_in_handle(x, y)
@@ -70,6 +75,11 @@ class MainWindow(QMainWindow):
                     if robot_index != -1:
                         self.dragging_robot = True
                         self.dragging_robot_index = robot_index
+                    else:
+                        rotation_handle_index = self.is_point_in_rotation_handle(x, y)
+                        if rotation_handle_index != -1:
+                            self.dragging_rotation_handle = True
+                            self.dragging_rotation_handle_index = rotation_handle_index
 
     def mouseMoveEvent(self, event: QMouseEvent):
         if self.dragging_handle:
@@ -82,6 +92,22 @@ class MainWindow(QMainWindow):
             x, y = pos.x(), pos.y()
             self.coordinates[self.dragging_robot_index] = [x, y]
             self.calculate_handle_pos()
+            self.calculate_rotation_handle_pos()
+            self.draw_scene()
+        elif self.dragging_rotation_handle:
+            pos = self.image_label.mapFrom(self, event.position().toPoint())
+            x, y = pos.x(), pos.y()
+            robot_x, robot_y = self.coordinates[self.dragging_rotation_handle_index]
+
+            # Calculate the angle between the robot and the rotation handle
+            dx = x - robot_x
+            dy = y - robot_y
+            angle = np.arctan2(dy, dx)
+
+            # Update the position of the rotation handle based on the angle and distance
+            rotation_handle_x = int(robot_x + self.rotation_handle_distance * np.cos(angle))
+            rotation_handle_y = int(robot_y + self.rotation_handle_distance * np.sin(angle))
+            self.rotation_handles[self.dragging_rotation_handle_index] = QPoint(rotation_handle_x, rotation_handle_y)
             self.draw_scene()
 
     def mouseReleaseEvent(self, event: QMouseEvent):
@@ -90,6 +116,15 @@ class MainWindow(QMainWindow):
             self.dragging_handle_index = -1
             self.dragging_robot = False
             self.dragging_robot_index = -1
+            self.dragging_rotation_handle = False
+            self.dragging_rotation_handle_index = -1
+
+    def is_point_in_rotation_handle(self, x, y):
+        for i, handle in enumerate(self.rotation_handles):
+            if (abs(x - handle.x()) <= self.handle_size // 2 and
+                abs(y - handle.y()) <= self.handle_size // 2):
+                return i
+        return -1
 
     def is_point_in_handle(self, x, y):
         for i, handle in enumerate(self.handles):
@@ -111,6 +146,20 @@ class MainWindow(QMainWindow):
             x2, y2 = self.coordinates[-1]
             self.handles.append(QPoint((x1 + x2) // 2, (y1 + y2) // 2))
 
+    def calculate_rotation_handle_pos(self):
+        for i, (x, y) in enumerate(self.coordinates):
+            if i >= len(self.rotation_handles):
+                angle = np.pi / 4
+                rotation_handle_x = int(x + self.rotation_handle_distance * np.cos(angle))
+                rotation_handle_y = int(y - self.rotation_handle_distance * np.sin(angle))
+                self.rotation_handles.append(QPoint(rotation_handle_x, rotation_handle_y))
+            else:
+                # Update the position of existing rotation handles
+                angle = np.pi / 4
+                rotation_handle_x = int(x + self.rotation_handle_distance * np.cos(angle))
+                rotation_handle_y = int(y - self.rotation_handle_distance * np.sin(angle))
+                self.rotation_handles[i] = QPoint(rotation_handle_x, rotation_handle_y)            
+
     def draw_scene(self):
         self.pixmap = QPixmap(os.path.join(os.path.dirname(os.path.abspath(__file__)), "images", "Field.png"))
         painter = QPainter(self.pixmap)
@@ -158,12 +207,29 @@ class MainWindow(QMainWindow):
             # Draw robot number
             painter.drawText(QRect(top_left_x, top_left_y, self.robot_size, self.robot_size), 
                             Qt.AlignCenter, str(i + 1))
+            
+        for i, handle in enumerate(self.rotation_handles):
+            painter.setBrush(QColor(255, 0, 0))  # Red color for rotation handle
+            painter.drawEllipse(
+                handle,
+                self.handle_size // 2,
+                self.handle_size // 2
+            )
+            painter.setBrush(Qt.NoBrush)
+
+            # Draw line connecting robot and rotation handle
+            robot_x, robot_y = self.coordinates[i]
+            painter.drawLine(
+                QPoint(robot_x, robot_y),
+                handle
+            )
 
         self.image_label.setPixmap(self.pixmap)
 
     def clear_points(self):
         self.coordinates = np.empty((0, 2), dtype=int)
         self.handles = []
+        self.rotation_handles = []
         self.pixmap = QPixmap(os.path.join(os.path.dirname(os.path.abspath(__file__)), "images", "Field.png"))
         self.image_label.setPixmap(self.pixmap)