diff --git a/selflocalization/selflocalize.py b/selflocalization/selflocalize.py
index a0da519..98223b5 100644
--- a/selflocalization/selflocalize.py
+++ b/selflocalization/selflocalize.py
@@ -166,7 +166,7 @@ def drive_towards_middle(est_pose, arlo):
     print("relative_pos", relative_pos)
     angle = np.rad2deg(np.arctan(relative_pos[1]/relative_pos[0]))
     print(angle)
-    turn_angle = np.mod(angle - np.rad2deg(theta) - 180, 360)
+    turn_angle = np.mod(angle - (np.rad2deg(theta) - 180), 360)
     print(turn_angle)
     drive_distance = np.sqrt(position[0]**2 + position[1]**2)
     if turn_angle < 180: