diff --git a/estimate_distance.py b/estimate_distance.py
new file mode 100644
index 0000000..cbc4bd7
--- /dev/null
+++ b/estimate_distance.py
@@ -0,0 +1,10 @@
+from robot import Arlo
+
+def main():
+    arlo = Arlo(False)
+    image = arlo.robot.take_photo()
+    bounding_boxes = arlo.find_aruco(image)
+    arlo.estimate_distance(bounding_boxes[0])
+
+if __name__ == "__main__":
+    main(9)
\ No newline at end of file
diff --git a/robot/arlo.py b/robot/arlo.py
index dcf07d0..e3207b7 100644
--- a/robot/arlo.py
+++ b/robot/arlo.py
@@ -10,6 +10,8 @@ SLEEP_TIME = 2
 
 FOCAL_LENGTH = 1691
 
+DEFAULT_CALIBRATION_CODE = "40.40-40.40-40.40_ff-ff-ff-ff"
+
 def test_forward(arlo, l_power, r_power):
     arlo.reset_encoder_counts()
     arlo.go_diff(l_power, r_power, 1, 1)
@@ -55,6 +57,9 @@ class Arlo():
         self.robot = Robot()
         if calibration_code is None:
             self._calibrate()
+        elif calibration_code is None:
+            self.calibration_code = DEFAULT_CALIBRATION_CODE
+            self._decode_calibration_code()
         else:
             self.calibration_code = calibration_code
             self._decode_calibration_code()