diff --git a/rally2.py b/rally2.py
index 3c30f14..38e85e9 100644
--- a/rally2.py
+++ b/rally2.py
@@ -296,7 +296,7 @@ def main():
             print(est_pose)
             particles, est_pose = turn_towards_landmark(noah, particles, est_pose, landmark)
             drive_time = time_to_landmark(est_pose, landmark)
-            time_driven, est_pose, particles = drive_until_stopped(noah)
+            time_driven, est_pose, particles = drive_until_stopped(noah, particles)
             if not abs(time_driven - drive_time) < 0.5:
                 # drunk_drive(noah)
                 est_pose, particles = turn_90_degrees(noah, est_pose, particles)