diff --git a/maths.cpp b/maths.cpp
index 571e6a3..4acb7a5 100644
--- a/maths.cpp
+++ b/maths.cpp
@@ -20,14 +20,14 @@ void cartesianToPolar(long &stepX, long &stepY, double zeroX, double zeroY,
   double offsetY = 21.0;   // laser to stand
   double offsetX = 0.0;    // unused
 
-  x = -x; // natural axis direction
+  // x = -x; // natural axis direction
+  y = -y; // natural axis direction
   double dX = x + offsetX;
   double dY = y + offsetY;
   double dZ = z + distance;
 
-  double rho = sqrt(pow(dX, 2.0) + pow(dY, 2.0) + pow(dZ, 2.0));
-  double angleY = M_PI / 2.0 - acos(dY / rho);
-  double angleX = atan2(dX, dZ);
+  double angleY = atan2(dZ, dY) - M_PI / 2;
+  double angleX = atan2(dZ, dX) - M_PI / 2;
 
   angleToStep(stepX, stepY, angleX, angleY);
 }