diff --git a/src/vision/vision.cpp b/src/vision/vision.cpp
index 1d436de..43de1aa 100644
--- a/src/vision/vision.cpp
+++ b/src/vision/vision.cpp
@@ -1,11 +1,11 @@
 #include "cv.h"
 #include "highgui.h"
-IplImage* GetThresholdedImage(IplImage* img)
-{
+IplImage* GetThresholdedImage(IplImage* img){
   // Convert the image into an HSV image
   IplImage* imgHSV = cvCreateImage(cvGetSize(img), 8, 3);
   cvCvtColor(img, imgHSV, CV_BGR2HSV);
   IplImage* imgThreshed = cvCreateImage(cvGetSize(img), 8, 1);
+  // Set yellow to white and all other colors to black
   //cvInRangeS(imgHSV, cvScalar(20, 100, 100), cvScalar(30, 255, 255), imgThreshed);
   cvInRangeS(imgHSV, cvScalar(10, 100, 100), cvScalar(40, 255, 255), imgThreshed);
   cvReleaseImage(&imgHSV);
@@ -19,20 +19,13 @@ int main()
   capture = cvCaptureFromCAM(0);
 
   // Couldn't get a device? Throw an error and quit
-  if(!capture)
-  {
+  if(!capture){
     printf("Could not initialize capturing...");
     return -1;
   }
-  // The two windows we'll be using
   cvNamedWindow("video");
   cvNamedWindow("thresh");
-  // This image holds the "scribble" data...
-  // the tracked positions of the ball
-  IplImage* imgScribble = NULL;
-  // An infinite loop
-  while(true)
-  {
+  while(true){
     // Will hold a frame captured from the camera
     IplImage* frame = 0;
     frame = cvQueryFrame(capture);
@@ -40,56 +33,18 @@ int main()
     if(!frame)
       break;
     // If this is the first frame, we need to initialize it
-    if(imgScribble == NULL)
-    {
-      imgScribble = cvCreateImage(cvGetSize(frame), 8, 3);
-    }
     // Holds the yellow thresholded image (yellow = white, rest = black)
     IplImage* imgYellowThresh = GetThresholdedImage(frame);
-    // Calculate the moments to estimate the position of the ball
-    CvMoments *moments = (CvMoments*)malloc(sizeof(CvMoments));
 
-    cvMoments(imgYellowThresh, moments, 1);
 
-    // The actual moment values
-    double moment10 = cvGetSpatialMoment(moments, 1, 0);
-    double moment01 = cvGetSpatialMoment(moments, 0, 1);
-
-    double area = cvGetCentralMoment(moments, 0, 0);
-    // Holding the last and current ball positions
-    static int posX = 0;
-
-    static int posY = 0;
-
-    int lastX = posX;
-
-    int lastY = posY;
-
-    posX = moment10/area;
-    posY = moment01/area;
-    // Print it out for debugging purposes
-    printf("position (%d,%d)", posX, posY);
-    // We want to draw a line only if its a valid position
-    if(lastX>0 && lastY>0 && posX>0 && posY>0)
-    {
-      // Draw a yellow line from the previous point to the current point
-      cvLine(imgScribble, cvPoint(posX, posY), cvPoint(lastX, lastY), cvScalar(0,255,255), 5);
-
-    }
-    // Add the scribbling image and the frame...
-    cvAdd(frame, imgScribble, frame);
     cvShowImage("thresh", imgYellowThresh);
     cvShowImage("video", frame);
-    // Wait for a keypress
+    // Quit on keypress
     int c = cvWaitKey(10);
-    if(c!=-1)
-    {
-      // If pressed, break out of the loop
+    if(c!=-1){
       break;
     }
-    // Release the thresholded image+moments... we need no memory leaks.. please
     cvReleaseImage(&imgYellowThresh);
-    delete moments;
   }
   // We're done using the camera. Other applications can now use it
   cvReleaseCapture(&capture);