diff --git a/include/positionsys_zone.h b/include/positionsys_zone.h
index 1dc99f0..71d736f 100644
--- a/include/positionsys_zone.h
+++ b/include/positionsys_zone.h
@@ -56,7 +56,7 @@
 #define SOUTH_EAST 9
 
 #define CAMERA_CENTER_X 3
-#define CAMERA_CENTER_Y 10
+#define CAMERA_CENTER_Y 6
 
 class PositionSysZone : public PositionSystem{
     public:
diff --git a/include/vars.h b/include/vars.h
index e8fec13..560cb30 100755
--- a/include/vars.h
+++ b/include/vars.h
@@ -1,5 +1,5 @@
 #pragma once
-#define DEBUG Serial
+#define DEBUG Serial3
 
 #define LED_R 20
 #define LED_Y 17
diff --git a/src/main.cpp b/src/main.cpp
index b5cde04..50ea14e 100755
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -23,11 +23,7 @@ void loop() {
   goalie->play(role==1);
   keeper->play(role==0);  
 
-  camera->test();
-
-
   // Last thing to do: movement and update status vector
-
   drive->drivePrepared();  
   updateStatusVector();
 } 
diff --git a/src/positionsys_zone.cpp b/src/positionsys_zone.cpp
index 84c0baf..c763411 100644
--- a/src/positionsys_zone.cpp
+++ b/src/positionsys_zone.cpp
@@ -373,8 +373,8 @@ void PositionSysZone::testLogicZone(){
 
 
 void PositionSysZone::goCenter() {
-  if((camera->true_yb + camera->true_yy) >= 0) drive->prepareDrive(180, 75, 0);
-  else if ((camera->true_yb + camera->true_yy) <= -CAMERA_CENTER_Y) drive->prepareDrive(0, 75, 0); 
+  if((camera->true_yb + camera->true_yy) > CAMERA_CENTER_Y) drive->prepareDrive(180, 75, 0);
+  else if ((camera->true_yb + camera->true_yy) < CAMERA_CENTER_Y) drive->prepareDrive(0, 75, 0); 
   else drive->prepareDrive(0, 0, 0);
 /*   if(camera->true_xb < -CAMERA_CENTER_X || camera->true_xy < -CAMERA_CENTER_X) drive->prepareDrive(90, 75, 0);
   else if(camera->true_xb > CAMERA_CENTER_X || camera->true_xy > CAMERA_CENTER_X) drive->prepareDrive(270, 75, 0);
diff --git a/utility/OpenMV/conic_eff.py.autosave b/utility/OpenMV/conic_eff.py.autosave
index 01dc8c7..05cb677 100644
--- a/utility/OpenMV/conic_eff.py.autosave
+++ b/utility/OpenMV/conic_eff.py.autosave
@@ -31,7 +31,7 @@ def val_map(x, in_min, in_max, out_min, out_max):
 red_led = pyb.LED(1)
 green_led = pyb.LED(2)
 blue_led = pyb.LED(3)
-  
+
 red_led.off()
 green_led.off()
 blue_led.on()
@@ -39,8 +39,8 @@ blue_led.on()
 
 
 
-thresholds = [  (30, 70, -12, 19, 10, 57),    # thresholds yellow goal
-                (0, 44, -5, 42, -65, -13)]  # thresholds blue goal (6, 31, -15, 4, -35, 0)
+thresholds = [  (0, 99, -16, 19, 13, 85),    # thresholds yellow goal
+                (26, 52, -8, 19, -49, -18)]  # thresholds blue goal (6, 31, -15, 4, -35, 0)
 
 roi = (0, 6, 318, 152)