diff --git a/rally.py b/rally.py
index 18c7ab0..4692a77 100644
--- a/rally.py
+++ b/rally.py
@@ -72,38 +72,40 @@ def main():
         landmark = landmark_order.pop(0)
 
         while True:
-            for _ in range(24):
-                arucos = find_aruco(noah.take_photo())
+            while True:
+                for _ in range(24):
+                    arucos = find_aruco(noah.take_photo())
+                    if landmark in arucos:
+                        break
+                    noah.go_diff(POWER, POWER, 0, 1)
+                    time.sleep((20 * TURN_T)/1000)
+                    noah.stop()
+
                 if landmark in arucos:
                     break
-                noah.go_diff(POWER, POWER, 0, 1)
-                time.sleep((20 * TURN_T)/1000)
-                noah.stop()
 
-            if landmark in arucos:
+                careful_forward(5, noah)
+
+
+            position = cv2.aruco.estimatePoseSingleMarkers(
+                np.array([arucos[landmark]]), 14.5, CAMERA_MATRIX, DIST_COEF
+            )[1][0][0]
+
+            angle = np.rad2deg(np.arctan(position[0]/position[2]))
+            drive_distance = np.sqrt(position[0]**2 + position[2]**2) - 10
+            if drive_distance < 30:
                 break
 
-            careful_forward(5, noah)
+            if angle < 0:
+                noah.go_diff(POWER, POWER, 0, 1)
+                time.sleep((abs(angle) * TURN_T)/1000)
+                noah.stop()
+            else:
+                noah.go_diff(POWER, POWER, 1, 0)
+                time.sleep((abs(angle) * TURN_T * CLOCKWISE_OFFSET)/1000)
+                noah.stop()
 
-
-        position = cv2.aruco.estimatePoseSingleMarkers(
-            np.array([arucos[landmark]]), 14.5, CAMERA_MATRIX, DIST_COEF
-        )[1][0][0]
-
-        angle = np.rad2deg(np.arctan(position[0]/position[2]))
-        drive_distance = np.sqrt(position[0]**2 + position[2]**2) - 10
-        if angle < 0:
-            noah.go_diff(POWER, POWER, 0, 1)
-            time.sleep((abs(angle) * TURN_T)/1000)
-            noah.stop()
-        else:
-            noah.go_diff(POWER, POWER, 1, 0)
-            time.sleep((abs(angle) * TURN_T * CLOCKWISE_OFFSET)/1000)
-            noah.stop()
-
-        noah.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
-        time.sleep((drive_distance * DRIVE_T)/1000)
-        noah.stop()
+            careful_forward((drive_distance * DRIVE_T)/1000)
 
 if __name__ == "__main__":
     main()