diff --git a/src/geo_controller.py b/src/geo_controller.py
index 4e63167..1f95bd9 100755
--- a/src/geo_controller.py
+++ b/src/geo_controller.py
@@ -58,7 +58,7 @@ def main():
             dely = (math.sin(theta[RIGHTTOP])*ranges[RIGHTTOP])
         else:
             dely = (math.sin(theta[RIGHTTOP])*ranges[RIGHTTOP]) - (math.sin(theta[RIGHTBOT])*ranges[RIGHTBOT])
-        thetar = -1* np.arctan(dely/delx) - np.pi/2
+        thetar = -1* np.arctan(dely/delx) + np.pi/2
         steering_input = interp(thetar, [np.radians(-20),np.radians(20)], [-100,100])
         print("ThetaR:",thetar, "|Steering Angle:", steering_input)
         message = drive_params()