diff --git a/rally2.py b/rally2.py
index 1a62cd3..eae05d9 100644
--- a/rally2.py
+++ b/rally2.py
@@ -302,7 +302,7 @@ def main():
                 est_pose, particles = turn_90_degrees(noah, est_pose, particles)
                 continue
 
-            est_pose, particles = inch_closer(noah)
+            est_pose, particles = inch_closer(noah, particles)
             break