diff --git a/selflocalization/selflocalize.py b/selflocalization/selflocalize.py
index b70de03..6092ce0 100644
--- a/selflocalization/selflocalize.py
+++ b/selflocalization/selflocalize.py
@@ -261,10 +261,10 @@ try:
             break
         else:
             arlo.go_diff(POWER, POWER, 0, 1)
-            sleep((30 * TURN_T)/1000)
+            sleep((15 * TURN_T)/1000)
             arlo.stop()
             for p in particles:
-                p.setTheta(p.theta + np.deg2rad(30))
+                p.setTheta(p.theta + np.deg2rad(15))
 
         if showGUI:
             # Draw map