diff --git a/main.py b/main.py
index 45a2a19..2d560c5 100755
--- a/main.py
+++ b/main.py
@@ -105,9 +105,10 @@ class Car(pygame.sprite.Sprite):
         for l in lines :
             for i,s in enumerate(self.sensors) :
                     ip = segments_intersection(s,l)
+                    print(s, l)
                     if ip is not None :
                         # print("ip", ip)
-                        d = distance(ip, self.rect.center)
+                        d = distance(ip, self.left_sensor[1])
                         # print('d',d)
                         # print('p was', p, 'is' , min(p,d))
                         self.probes[i] = min(self.probes[i],d)
diff --git a/trigo.py b/trigo.py
index ccc8b7a..366adc8 100644
--- a/trigo.py
+++ b/trigo.py
@@ -7,13 +7,8 @@ def angle_to_vector(angle):
 
 
 def segments_intersection(line1, line2):
-    x1,y1 = line1[0]
-    x2,y2 = line1[1]
-    x3,y3 = line2[0]
-    x4,y4 = line2[1]
-
-    xdiff = (x1 - x2, x3 - x4)
-    ydiff = (y1 - y2, y3 - y4)
+    xdiff = (line1[0][0] - line1[1][0], line2[0][0] - line2[1][0])
+    ydiff = (line1[0][1] - line1[1][1], line2[0][1] - line2[1][1])
 
     def det(a, b):
         return a[0] * b[1] - a[1] * b[0]
@@ -26,9 +21,15 @@ def segments_intersection(line1, line2):
     x = det(d, xdiff) / div
     y = det(d, ydiff) / div
 
-    if min(x1,x2) <= x <= max(x1,x2) :
+    if (
+        min(line1[0][0],line1[1][0]) <= x <= max(line1[0][0],line1[1][0]) 
+        and min(line2[0][0],line2[1][0]) <= x <= max(line2[0][0],line2[1][0]) 
+        and min(line1[0][1],line1[1][1]) <= y <= max(line1[0][1],line1[1][1])
+        and min(line2[0][1],line2[1][1]) <= y <= max(line2[0][1],line2[1][1])  
+        
+        ):
         return x, y
-    return None
+    return x, y
 
 def distance(point1, point2):
     return math.hypot(point1[0] - point2[0], point1[1] - point2[1])
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