diff --git a/rally.py b/rally.py
index 4d7774b..dc39261 100644
--- a/rally.py
+++ b/rally.py
@@ -99,8 +99,8 @@ def main():
                 np.array([arucos[landmark]]), 14.5, CAMERA_MATRIX, DIST_COEF
             )[1][0][0]
 
-            angle = np.rad2deg(np.arctan(position[0]/position[2])) - 10
-            drive_distance = np.sqrt(position[0]**2 + position[2]**2) - 120
+            angle = np.rad2deg(np.arctan(position[0]/position[2])) - 5
+            drive_distance = np.sqrt(position[0]**2 + position[2]**2) - 100
 
             if angle < 0:
                 noah.go_diff(POWER, POWER, 0, 1)