✨

rally.py

@@ -40,8 +40,8 @@ def find_aruco(image):
 
 def careful_forward(drive_time, arlo, careful_range = 600):
     start = time.time()
-    if drive_time > 2.5:
-        drive_time = 2.5
+    if drive_time > 2:
+        drive_time = 2
         hit_something = True
     else:
         hit_something = False
@@ -99,7 +99,7 @@ def main():
                 np.array([arucos[landmark]]), 14.5, CAMERA_MATRIX, DIST_COEF
             )[1][0][0]
 
-            angle = np.rad2deg(np.arctan(position[0]/position[2])) - 5
+            angle = np.rad2deg(np.arctan(position[0]/position[2])) - 7
             drive_distance = np.sqrt(position[0]**2 + position[2]**2) - 100
 
             if angle < 0: