diff --git a/include/sensors/data_source_ball.h b/include/sensors/data_source_ball.h
index aef29b0..70abefa 100644
--- a/include/sensors/data_source_ball.h
+++ b/include/sensors/data_source_ball.h
@@ -2,8 +2,8 @@
 #include "behaviour_control/data_source.h"
 #include <Arduino.h>
 
-#define MOUTH_MIN_ANGLE 340
-#define MOUTH_MAX_ANGLE 20
+#define MOUTH_MIN_ANGLE 345
+#define MOUTH_MAX_ANGLE 15
 #define MOUTH_DISTANCE 100
 #define MOUTH_MAX_DISTANCE 140
 
diff --git a/include/sensors/data_source_camera_conicmirror.h b/include/sensors/data_source_camera_conicmirror.h
index 1505b04..5de0222 100644
--- a/include/sensors/data_source_camera_conicmirror.h
+++ b/include/sensors/data_source_camera_conicmirror.h
@@ -22,13 +22,8 @@
 To overcome this, each coordinate needs to be shifted by some amount, defined on a per-robot basis that needs to be recalibrated each time.
 These values need to be subtracted from the coords used in setMoveSetpoints*/
 
-// Robot without roller
-// #define CAMERA_TRANSLATION_X 0
-// #define CAMERA_TRANSLATION_Y 7
-
-//Robot with roller
 #define CAMERA_TRANSLATION_X 0
-#define CAMERA_TRANSLATION_Y 0
+#define CAMERA_TRANSLATION_Y -12
 
 class DataSourceCameraConic : public DataSource{
 
diff --git a/utility/OpenMV/conic_eff_h7.py b/utility/OpenMV/conic_eff_h7.py
index d507d63..83be99a 100644
--- a/utility/OpenMV/conic_eff_h7.py
+++ b/utility/OpenMV/conic_eff_h7.py
@@ -46,10 +46,10 @@ blue_led.on()
 
 
 thresholds = [  (72, 100, -26, 12, 37, 91),    # thresholds yellow goalz
-                (30, 54, -8, 12, -42, -17)]  # thresholds blue goal (6, 31, -15, 4, -35, 0)
+                (45, 70, -9, 29, -80, -42)]  # thresholds blue goal (6, 31, -15, 4, -35, 0)
 
 
-roi = (20, 0, 260, 240)
+roi = (40, 0, 260, 240)
 
 # Camera Setup ###############################################################
 '''sensor.reset()xxxx
@@ -71,9 +71,9 @@ sensor.set_windowing(roi)
 sensor.set_contrast(3)
 sensor.set_saturation(3)
 sensor.set_brightness(3)
-sensor.set_auto_whitebal(False, (-6.02073, -5.88632, -0.931115))
-sensor.set_auto_exposure(False, 4445)
-sensor.set_auto_gain(False, 10.2374 )
+sensor.set_auto_whitebal(False, (-6.02073, -5.494869, -0.8559153))
+sensor.set_auto_exposure(False, 5845)
+#sensor.set_auto_gain(True)
 sensor.skip_frames(time = 300)
 
 clock = time.clock()