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rally.py

@@ -91,7 +91,7 @@ def main():
         )[1][0][0]
 
         angle = np.rad2deg(np.arctan(position[0]/position[2]))
-        drive_distance = np.sqrt(position[0]**2 + position[2]**2)
+        drive_distance = np.sqrt(position[0]**2 + position[2]**2) - 20
         if angle < 0:
             noah.go_diff(POWER, POWER, 0, 1)
             time.sleep((abs(angle) * TURN_T)/1000)