diff --git a/drive_between_arucos.py b/drive_between_arucos.py
index 0f24b9a..a28c83e 100644
--- a/drive_between_arucos.py
+++ b/drive_between_arucos.py
@@ -50,10 +50,9 @@ def find_arucos(arlo):
                     print(f"found box {id_}")
                     position = cv2.aruco.estimatePoseSingleMarkers(
                         np.array([aruco]), 14.5, CAMERA_MATRIX, DIST_COEF
-                    )
+                    )[1][0][0]
                     print(position)
-                    exit()
-                    position = np.array([position[0], position[1]])
+                    position = np.array([position[1], position[0]])
                     position[0] += 22.5
                     print(id_, position)
                     aruco_dict[id_] = position
@@ -77,7 +76,7 @@ def main():
         np.average(aruco_positions[:,1])
     ]
 
-    angle = np.rad2deg(np.arctan(position[0]/position[1]))
+    angle = np.rad2deg(np.arctan(position[1]/position[0]))
     drive_distance = np.sqrt(position[0]**2 + position[1]**2)
     if angle < 0:
         arlo.go_diff(POWER, POWER, 0, 1)