diff --git a/rally2.py b/rally2.py
index 4029dbb..fdaaa05 100644
--- a/rally2.py
+++ b/rally2.py
@@ -225,28 +225,22 @@ def main():
 
     noah = robot.Robot()  # Noah er vores robots navn
     cam = camera.Camera(0, 'arlo', useCaptureThread=True)
-    particles = initialize_particles(NUM_PARTICLES)
-
-    # The estimate of the robots current pose
-    est_pose = particle.estimate_pose(particles)
-    est_pose = particle.estimate_pose(particles)
-    particles, est_pose = look_around(noah, particles, cam, est_pose)
 
     for landmark in landmark_order:
         print(f"Going to landmark {landmark}")
         while True:
             particles = initialize_particles(NUM_PARTICLES)
 
-            # # The estimate of the robots current pose
-            # est_pose = particle.estimate_pose(particles)
-            # particles, est_pose = look_around(noah, particles, cam, est_pose)
+            # The estimate of the robots current pose
+            est_pose = particle.estimate_pose(particles)
+            particles, est_pose = look_around(noah, particles, cam, est_pose)
             print(est_pose)
             particles, est_pose = turn_towards_landmark(noah, particles, est_pose, landmark)
             drive_time = time_to_landmark(est_pose, landmark)
             if not abs(drive_until_stopped(noah) - drive_time) < 0.5:
-                break
                 drunk_drive(noah)
                 continue
+
             inch_closer(noah)
             break