diff --git a/selflocalization/selflocalize.py b/selflocalization/selflocalize.py
index 56e1a20..e717be1 100644
--- a/selflocalization/selflocalize.py
+++ b/selflocalization/selflocalize.py
@@ -165,7 +165,8 @@ def drive_towards_middle(est_pose, arlo):
     print("relative_pos", relative_pos)
     angle = np.arctan(relative_pos[1]/relative_pos[0])
     print(angle)
-    turn_angle = np.mod(np.rad2deg(angle - theta), 360)
+    turn_angle = np.mod(np.rad2deg(angle - theta) - 180, 360)
+    print(turn_angle)
     drive_distance = np.sqrt(position[0]**2 + position[1]**2)
     if turn_angle < 180:
         arlo.go_diff(POWER, POWER, 0, 1)