diff --git a/drive_between_arucos.py b/drive_between_arucos.py
index 9f51593..f86a30f 100644
--- a/drive_between_arucos.py
+++ b/drive_between_arucos.py
@@ -64,8 +64,8 @@ def main():
         np.average(aruco_positions[:,2])
     ]
 
-    angle = np.rad2deg(np.arctan(position[0]/position[2]))
-    drive_distance = np.sqrt(position[0]**2 + position[2]**2)
+    angle = np.rad2deg(np.arctan(position[0]/position[1]))
+    drive_distance = np.sqrt(position[0]**2 + position[1]**2)
     if angle < 0:
         arlo.go_diff(POWER, POWER, 0, 1)
         sleep((abs(angle) * TURN_T)/1000)