diff --git a/selflocalization/selflocalize.py b/selflocalization/selflocalize.py
index 29e9c25..5866193 100644
--- a/selflocalization/selflocalize.py
+++ b/selflocalization/selflocalize.py
@@ -175,7 +175,7 @@ def drive_towards_middle(est_pose, arlo):
         arlo.stop()
     else:
         arlo.go_diff(POWER, POWER, 1, 0)
-        sleep((abs(turn_angle - 180) * TURN_T * CLOCKWISE_OFFSET)/1000)
+        sleep((abs(360 - turn_angle) * TURN_T * CLOCKWISE_OFFSET)/1000)
         arlo.stop()
 
     arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)