diff --git a/control/walle.py b/control/walle.py
index eaa24cc..778ea25 100644
--- a/control/walle.py
+++ b/control/walle.py
@@ -126,8 +126,8 @@ class WallE:
         if distance > 1:
             distance = 1
         # up_down = distance * math.sin(angle)
-        # left_right = distance * math.cos(angle)
+        left_right = distance * math.cos(angle)
         # self.set_servo(SERVO_ARM_L, map_range(up_down, -1.0, 1.0, 50, 130))
         # self.set_servo(SERVO_ARM_R, map_range(left_right, -1.0, 1.0, 130, 50))
         minmax = SERVO_MIN_MAX[SERVO_NECK_ROTATE]
-        self.set_servo(SERVO_NECK_ROTATE, map_range(angle, -1.0, 1.0, minmax.minval, minmax.maxval))
+        self.set_servo(SERVO_NECK_ROTATE, map_range(left_right, -1.0, 1.0, minmax.minval, minmax.maxval))