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Really neat game, just sometimes it seems that my centipede will get stuck in the smaller squares and just keep going around in circles even if I try to go out the door. Also, not sure if intentional, but it dose not always turn immediately when I press a new direction.

The character has to say aligned to the grid, so it won't move until it finishes moving into its targeted tile. Giving it the turn command just before you want it to turn should solve your problem.