diff --git a/aruco/ArucoDetector.cpp b/aruco/ArucoDetector.cpp
index f0f2cb5..6a795f8 100644
--- a/aruco/ArucoDetector.cpp
+++ b/aruco/ArucoDetector.cpp
@@ -13,11 +13,11 @@ ArucoDetector::ArucoDetector(const std::string& calibrationPath, const Team team
 
     // TODO
     // Adjusting parameters based on specific needs
-    /*parameters->adaptiveThreshConstant = true;
-    parameters->minMarkerPerimeterRate = 0.03;
+    parameters->adaptiveThreshConstant = true;
+    parameters->minMarkerPerimeterRate = 0.02;
     parameters->maxMarkerPerimeterRate = 4.0;
     parameters->perspectiveRemoveIgnoredMarginPerCell = 0.13;
-    parameters->polygonalApproxAccuracyRate = 0.03;*/
+    parameters->polygonalApproxAccuracyRate = 0.03;
 
     this->readCameraParameters(calibrationPath);
 
diff --git a/arucoDetector.cpp b/arucoDetector.cpp
index 1a62a3f..e2f9839 100644
--- a/arucoDetector.cpp
+++ b/arucoDetector.cpp
@@ -58,6 +58,8 @@ int main(int argc, char *argv[])
 
     client.sendMessage("aruco;strat;ready;1");
 
+    usleep(500'000);
+
     while (true) {
         auto r = detector.detectArucoTags({whiteFlower, purpleFlower, solarPanel});