From 073897c485196911ce7b4ef285fb39373a1d77ee Mon Sep 17 00:00:00 2001
From: NikolajDanger <nikolajgade@live.dk>
Date: Wed, 2 Nov 2022 15:01:03 +0100
Subject: [PATCH] :sparkles:

---
 rally.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/rally.py b/rally.py
index 756594e..c210f0e 100644
--- a/rally.py
+++ b/rally.py
@@ -117,9 +117,10 @@ def main():
                     position = cv2.aruco.estimatePoseSingleMarkers(
                         np.array([arucos[landmark]]), 14.5, CAMERA_MATRIX, DIST_COEF
                     )[1][0][0]
+                    drive_distance = np.sqrt(position[0]**2 + position[2]**2) - 30
                     noah.go_diff(POWER, POWER, 1, 1)
                     print("Final bit")
-                    time.sleep((70 * DRIVE_T)/1000)
+                    time.sleep((drive_distance * DRIVE_T)/1000)
                     noah.stop()
 
                     break