diff --git a/careful_forward.py b/careful_forward.py
index e24ae18..c69ceeb 100644
--- a/careful_forward.py
+++ b/careful_forward.py
@@ -8,19 +8,23 @@ RIGHT_WHEEL_OFFSET = 5
 def careful_forward(drive_time, arlo):
     start = time.time()
     end = start + drive_time
+    turning = None
     while time.time() < end:
         forward_dist = arlo.read_front_ping_sensor()
         right_dist = arlo.read_right_ping_sensor()
         left_dist = arlo.read_left_ping_sensor()
         if forward_dist > 600 and all(x > 200 for x in [right_dist, left_dist]):
             print("not blocked")
+            turning = None
             arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
         else:
             print("blocked")
-            if forward_dist > 600 and right_dist > 200:
+            if turning == "R" or (forward_dist > 600 and right_dist > 200 and turning is None):
                 arlo.go_diff(POWER, POWER, 1, 0)
+                turning = "R"
             else:
                 arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
+                turning = "L"
 
         time.sleep(0.01)