From 374c321c4cafae41dda3b7d3d3ef52cf762f7c53 Mon Sep 17 00:00:00 2001
From: NikolajDanger <nikolajgade@live.dk>
Date: Wed, 2 Nov 2022 15:08:31 +0100
Subject: [PATCH] :sparkles:

---
 rally.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/rally.py b/rally.py
index 1b7ae7b..385191e 100644
--- a/rally.py
+++ b/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: