diff --git a/rally.py b/rally.py
index 2b3f1c1..c37c517 100644
--- a/rally.py
+++ b/rally.py
@@ -38,7 +38,7 @@ def find_aruco(image):
 
     return {ids[i][0]: box[0] for i, box in enumerate(corners)}
 
-def careful_forward(drive_time, arlo):
+def careful_forward(drive_time, arlo, careful_range = 600):
     start = time.time()
     end = start + drive_time
     turning = None
@@ -47,14 +47,14 @@ 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 > 600 and all(x > 200 for x in [right_dist, left_dist]):
+        if forward_dist > careful_range and all(x > 200 for x in [right_dist, left_dist]):
             print("not blocked")
             turning = None
             arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
         else:
             print("blocked")
             hit_something = True
-            if turning == "R" or (forward_dist > 600 and right_dist > 200 and turning is None):
+            if turning == "R" or (forward_dist > careful_range and right_dist > 200 and turning is None):
                 arlo.go_diff(POWER, POWER, 1, 0)
                 turning = "R"
             else:
@@ -109,7 +109,7 @@ def main():
                 time.sleep((abs(angle) * TURN_T * CLOCKWISE_OFFSET)/1000)
                 noah.stop()
 
-            if not careful_forward((drive_distance * DRIVE_T)/1000, noah):
+            if not careful_forward((drive_distance * DRIVE_T)/1000, noah, 200):
                 break
 
 if __name__ == "__main__":