diff --git a/drive_between_arucos.py b/drive_between_arucos.py
index 78e212a..934594d 100644
--- a/drive_between_arucos.py
+++ b/drive_between_arucos.py
@@ -39,7 +39,7 @@ def find_aruco(image):
 
 def find_arucos(arlo):
     aruco_dict = {}
-    theta = np.deg2rad(30)
+    theta = np.deg2rad(-20)
     rot = [[[cos(theta), -sin(theta)], [sin(theta), cos(theta)]]]
 
     while True:
@@ -67,12 +67,7 @@ def find_arucos(arlo):
 
 def main():
     arlo = Robot()
-    arucos = find_arucos(arlo)
-
-    print(arucos)
-    aruco_positions = np.array([cv2.aruco.estimatePoseSingleMarkers(
-        np.array([aruco]), 14.5, CAMERA_MATRIX, DIST_COEF
-    )[1][0][0] for aruco in arucos])
+    aruco_positions = find_arucos(arlo)
 
     print(aruco_positions)