diff --git a/rally.py b/rally.py
index 19d54ff..db1d811 100644
--- a/rally.py
+++ b/rally.py
@@ -72,12 +72,12 @@ def main():
         landmark = landmark_order.pop(0)
 
         while True:
-            for _ in range(36):
+            for _ in range(18):
                 arucos = find_aruco(noah.take_photo())
                 if landmark in arucos:
                     break
                 noah.go_diff(POWER, POWER, 0, 1)
-                time.sleep((10 * TURN_T)/1000)
+                time.sleep((20 * TURN_T)/1000)
                 noah.stop()
 
             if landmark in arucos: