diff --git a/rally2.py b/rally2.py
index 7cd2e40..9a2b374 100644
--- a/rally2.py
+++ b/rally2.py
@@ -81,7 +81,7 @@ def look_around(noah, particles, cam, est_pose):
         time.sleep((15 * TURN_T)/1000)
         noah.stop()
         for p in particles:
-            p.setTheta(p.theta + np.deg2rad(15))
+            p.setTheta(p.theta - np.deg2rad(15))
 
     # The estimate of the robots current pose
     est_pose = particle.estimate_pose(particles)
@@ -97,7 +97,7 @@ def turn_towards_landmark(noah, particles, est_pose, landmark):
     angle = np.rad2deg(np.arctan(relative_pos[1]/relative_pos[0]))
     turn_angle = np.mod(angle - (np.rad2deg(current_theta) - 180), 360)
     for p in particles:
-        p.setTheta(p.theta + np.deg2rad(turn_angle))
+        p.setTheta(p.theta - np.deg2rad(turn_angle))
     if turn_angle < 180:
         noah.go_diff(POWER, POWER, 0, 1)
         time.sleep((abs(turn_angle) * TURN_T)/1000)
@@ -273,7 +273,7 @@ def turn_90_degrees(noah, est_pose, particles):
         if clockwise:
             p.setTheta(p.theta - np.deg2rad(90))
         else:
-            p.setTheta(p.theta - np.deg2rad(90))
+            p.setTheta(p.theta + np.deg2rad(90))
     particle.add_uncertainty(particles, SIGMA, SIGMA_THETA)
     _, est_pose, particles = drive_until_stopped(noah, particles)
     return est_pose, particles