diff --git a/estimate_distance.py b/estimate_distance.py
index 0a98544..6d44410 100644
--- a/estimate_distance.py
+++ b/estimate_distance.py
@@ -2,9 +2,10 @@ from robot import Arlo
 
 def main():
     arlo = Arlo(False)
-    image = arlo.robot.take_photo()
-    bounding_boxes = arlo.find_aruco(image)
-    print(arlo.estimate_distance(bounding_boxes[0][0]))
+    for _ in range(5):
+        image = arlo.robot.take_photo()
+        bounding_boxes = arlo.find_aruco(image)
+        print(arlo.estimate_distance(bounding_boxes[0][0]))
 
 if __name__ == "__main__":
     main()
\ No newline at end of file
diff --git a/robot/arlo.py b/robot/arlo.py
index dad8255..08b196e 100644
--- a/robot/arlo.py
+++ b/robot/arlo.py
@@ -99,7 +99,7 @@ class Arlo():
 
         avg_size = (avg_width + avg_height)/2
 
-        return (FOCAL_LENGTH * 15)/avg_size
+        return (FOCAL_LENGTH * 14.5)/avg_size
 
     def find_aruco(self, image):
         aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250)