diff --git a/src/system/lines/linesys_camera.cpp b/src/system/lines/linesys_camera.cpp
index 5e7bef2..b2b1e18 100644
--- a/src/system/lines/linesys_camera.cpp
+++ b/src/system/lines/linesys_camera.cpp
@@ -1,11 +1,12 @@
 #include "systems/lines/linesys_camera.h"
-#include "systems/position/positionsys_camera.h"
+#include "behaviour_control/status_vector.h"
 #include "sensors/sensors.h"
 #include "strategy_roles/games.h"
-#include "behaviour_control/status_vector.h"
+#include "systems/position/positionsys_camera.h"
 
-LineSysCamera::LineSysCamera(){}
-LineSysCamera::LineSysCamera(vector<DataSource*> in_, vector<DataSource*> out_){
+LineSysCamera::LineSysCamera() {}
+LineSysCamera::LineSysCamera(vector<DataSource *> in_, vector<DataSource *> out_)
+{
     this->in = in_;
     this->out = out_;
 
@@ -18,100 +19,128 @@ LineSysCamera::LineSysCamera(vector<DataSource*> in_, vector<DataSource*> out_){
 
     tookLine = false;
 
-    for(int i = 0; i < 4; i++){
-      linetriggerI[i] = 0;
-      linetriggerO[i] = 0;
+    for (int i = 0; i < 4; i++)
+    {
+        linetriggerI[i] = 0;
+        linetriggerO[i] = 0;
     }
 
     exitTimer = 0;
     linesens = 0;
 }
 
+void LineSysCamera ::update()
+{
+  CURRENT_INPUT_WRITE.lineByte = 0;
+    inV = 0;
+    outV = 0;
+    tookLine = false;
 
-void LineSysCamera ::update() {
-  inV = 0;
-  outV = 0;
-  tookLine = false;
+    for (DataSource *d : in)
+        d->readSensor();
+    for (DataSource *d : out)
+        d->readSensor();
 
-  for(DataSource* d : in) d->readSensor();
-  for(DataSource* d : out) d->readSensor();
-
-  for(auto it = in.begin(); it != in.end(); it++){
-    i = it - in.begin();
-    ds = *it;
-    linetriggerI[i] = ds->getValue() > LINE_THRESH_CAM;
-  }
-  for(auto it = out.begin(); it != out.end(); it++){
-    i = it - out.begin();
-    ds = *it;
-    linetriggerO[i] = ds->getValue() > LINE_THRESH_CAM;
-  }
-
-  for(int i = 0; i < 4; i++){
-    inV = inV | (linetriggerI[i] << i);
-    outV = outV | (linetriggerO[i] << i);
-  }
-
-  if (inV > 0 || outV > 0) {
-    if(millis() - exitTimer > EXIT_TIME) {
-      fboundsX = true;
-      fboundsY = true;
+    for (auto it = in.begin(); it != in.end(); it++)
+    {
+        i = it - in.begin();
+        ds = *it;
+        linetriggerI[i] = ds->getValue() > LINE_THRESH_CAM;
+        CURRENT_INPUT_WRITE.lineByte |= linetriggerI[i] << i;
+    }
+    for (auto it = out.begin(); it != out.end(); it++)
+    {
+        i = it - out.begin();
+        ds = *it;
+        linetriggerO[i] = ds->getValue() > LINE_THRESH_CAM;
+        CURRENT_INPUT_WRITE.lineByte |= linetriggerO[i] << (4+i);
     }
-    exitTimer = millis();
-  }
 
-  linesens |= inV | outV;
-  outOfBounds();
+    for (int i = 0; i < 4; i++)
+    {
+        inV = inV | (linetriggerI[i] << i);
+        outV = outV | (linetriggerO[i] << i);
+    }
+
+    if (inV > 0 || outV > 0)
+    {
+        if (millis() - exitTimer > EXIT_TIME)
+        {
+            fboundsX = true;
+            fboundsY = true;
+        }
+        exitTimer = millis();
+    }
+
+    linesens |= inV | outV;
+    CURRENT_DATA_WRITE.lineActive = linesens;
+    outOfBounds();
 }
 
-void LineSysCamera::outOfBounds(){
-  // digitalWriteFast(BUZZER, LOW);
-  if(fboundsX == true) {
-    if(linesens & 0x02) linesensOldX = 2;
-    else if(linesens & 0x08) linesensOldX = 8;
-    if(linesensOldX != 0) fboundsX = false;
-  }
-  if(fboundsY == true) {
-    if(linesens & 0x01) linesensOldY = 1;
-    else if(linesens & 0x04) linesensOldY = 4;
-    if(linesensOldY != 0) fboundsY = false;
-  }
+void LineSysCamera::outOfBounds()
+{
+    // digitalWriteFast(BUZZER, LOW);
+    if (fboundsX == true)
+    {
+        if (linesens & 0x02)
+            linesensOldX = 2;
+        else if (linesens & 0x08)
+            linesensOldX = 8;
+        if (linesensOldX != 0) fboundsX = false;
+    }
+    if (fboundsY == true)
+    {
+        if (linesens & 0x01)
+            linesensOldY = 1;
+        else if (linesens & 0x04)
+            linesensOldY = 4;
+        if (linesensOldY != 0) fboundsY = false;
+    }
 
-  if (millis() - exitTimer < EXIT_TIME){
-    CURRENT_DATA_READ.game->ps->goCenter();
-    tookLine = true;
-    tone(BUZZER, 220.00, 250);
-  }else{
-    // drive->canUnlock = true;
-    linesens = 0;
-    linesensOldY = 0;
-    linesensOldX = 0;
-  }
+    if (millis() - exitTimer < EXIT_TIME)
+    {
+        CURRENT_DATA_WRITE.game->ps->goCenter();
+        tookLine = true;
+        tone(BUZZER, 220.00, 250);
+    }
+    else
+    {
+        // drive->canUnlock = true;
+        linesens = 0;
+        linesensOldY = 0;
+        linesensOldX = 0;
+    }
 }
 
-void LineSysCamera::test(){
-  update();
-  DEBUG.print("In: ");
-  for(DataSource* d : in){
-      d->update();
-      DEBUG.print(d->getValue());
-      DEBUG.print(" | ");
-  }
-  DEBUG.print(" |---| ");
-  DEBUG.print("Out: ");
-  for(DataSource* d : out){
-      d->update();
-      DEBUG.print(d->getValue());
-      DEBUG.print(" | ");
-  }
-  DEBUG.println();
-  for(int i = 0; i < 4; i++){
-    DEBUG.print(linetriggerI[i]);
-    DEBUG.print(" | ");
-    DEBUG.println(linetriggerO[i]);
-  }
+void LineSysCamera::test()
+{
+    update();
+    DEBUG.print("Byte Read: ");
+    DEBUG.println(CURRENT_INPUT_READ.lineByte, BIN);
+    DEBUG.print("In: ");
+    for (DataSource *d : in)
+    {
+        d->update();
+        DEBUG.print(d->getValue());
+        DEBUG.print(" | ");
+    }
+    DEBUG.print(" |---| ");
+    DEBUG.print("Out: ");
+    for (DataSource *d : out)
+    {
+        d->update();
+        DEBUG.print(d->getValue());
+        DEBUG.print(" | ");
+    }
+    DEBUG.println();
+    for (int i = 0; i < 4; i++)
+    {
+        DEBUG.print(linetriggerI[i]);
+        DEBUG.print(" | ");
+        DEBUG.println(linetriggerO[i]);
+    }
 
-  DEBUG.println(inV);
-  DEBUG.println(outV);
-  DEBUG.println();
+    DEBUG.println(inV);
+    DEBUG.println(outV);
+    DEBUG.println();
 }
\ No newline at end of file