diff --git a/rally2.py b/rally2.py
index 9a2b374..d0a2689 100644
--- a/rally2.py
+++ b/rally2.py
@@ -18,7 +18,7 @@ LANDMARK_POSITIONS = {
 
 POWER = 70
 
-TURN_T = 9.1  # 1 degree
+TURN_T = 9.8  # 1 degree
 DRIVE_T = 22  # 1 centimeter
 
 RIGHT_WHEEL_OFFSET = 4
@@ -56,7 +56,7 @@ def look_around(noah, particles, cam, est_pose):
                     print(
                         "Object ID = ", objectIDs[i], ", Distance = ", dists[i], ", angle = ", angles[i])
                     if objectIDs[i] in LANDMARKS:
-                        landmark_values.append((objectIDs[i], dists[i], angles[i]))
+                        landmark_values.append((objectIDs[i], dists[i] + 22.5, angles[i]))
 
                 # Compute particle weights
                 for p in particles: