diff --git a/careful_forward.py b/careful_forward.py
index c44ca1c..f83f118 100644
--- a/careful_forward.py
+++ b/careful_forward.py
@@ -12,12 +12,15 @@ def careful_forward(drive_time, arlo):
         forward_dist = arlo.read_front_ping_sensor()
         right_dist = arlo.read_right_ping_sensor()
         left_dist = arlo.read_left_ping_sensor()
-        if forward_dist > 400 and all(x > 300 for x in [right_dist, left_dist]):
+        if forward_dist > 400 and all(x > 150 for x in [right_dist, left_dist]):
             print("not blocked")
             arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
         else:
             print("blocked")
-            arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
+            if right_dist > 150:
+                arlo.go_diff(POWER, POWER, 1, 0)
+            else:
+                arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
 
         time.sleep(0.1)