diff --git a/careful_forward.py b/careful_forward.py
index 83a64cd..28742ab 100644
--- a/careful_forward.py
+++ b/careful_forward.py
@@ -17,7 +17,11 @@ def careful_forward(drive_time, arlo):
             arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
         else:
             print("blocked")
-            arlo.stop()
+            if right_dist > 300:
+                arlo.go_diff(POWER, POWER, 1, 0)
+            else:
+                arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
+
         time.sleep(0.1)
 
 def main():