diff --git a/rally.py b/rally.py
index f2ebbb2..aa2eab9 100644
--- a/rally.py
+++ b/rally.py
@@ -40,8 +40,8 @@ def find_aruco(image):
 
 def careful_forward(drive_time, arlo, careful_range = 600):
     start = time.time()
-    if drive_time > 3:
-        drive_time = 3
+    if drive_time > 2.5:
+        drive_time = 2.5
         hit_something = True
     else:
         hit_something = False
diff --git a/rally2.py b/rally2.py
index 6459320..a49839b 100644
--- a/rally2.py
+++ b/rally2.py
@@ -7,13 +7,13 @@ from selflocalization import particle, camera
 
 import robot
 
-LANDMARKS = [9,5,3,8]
+LANDMARKS = [6,8,9,7]
 
 LANDMARK_POSITIONS = {
-    9: [0, 0],
-    5: [0, 200],
-    3: [300, 0],
-    8: [300, 200]
+    6: [0, 0],
+    8: [0, 300],
+    9: [400, 0],
+    7: [400, 300]
 }
 
 POWER = 70