diff --git a/careful_forward.py b/careful_forward.py
index 9c6de5f..e24ae18 100644
--- a/careful_forward.py
+++ b/careful_forward.py
@@ -17,7 +17,10 @@ def careful_forward(drive_time, arlo):
             arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
         else:
             print("blocked")
-            arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
+            if forward_dist > 600 and right_dist > 200:
+                arlo.go_diff(POWER, POWER, 1, 0)
+            else:
+                arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
 
         time.sleep(0.01)