diff --git a/src/org/usfirst/frc/team2059/robot/Robot.java b/src/org/usfirst/frc/team2059/robot/Robot.java
index 7c0b4e4..efb9311 100644
--- a/src/org/usfirst/frc/team2059/robot/Robot.java
+++ b/src/org/usfirst/frc/team2059/robot/Robot.java
@@ -21,7 +21,7 @@ public class Robot extends IterativeRobot {
 //    cameraServer.setQuality(50);
 //    cameraServer.startAutomaticCapture("cam0");
     try {
-      Process grip = Runtime.getRuntime().exec(new String[] {"/usr/local/frc/JRE/bin/java", "-jar", "grip.jar", "project.grip"});
+      new ProcessBuilder("/home/lvuser/grip").inheritIO().start();
     } catch (Exception e) {
       System.out.println("Error starting GRIP");
     }
@@ -75,10 +75,11 @@ public class Robot extends IterativeRobot {
     SmartDashboard.putNumber("ArmAngleRaw", CommandBase.mainArm.getRaw());
     SmartDashboard.putNumber("ArmAngleDegrees", CommandBase.mainArm.getDegrees());
     SmartDashboard.putNumber("tmpRotations", CommandBase.driveBase.getLeftRotations());
+    SmartDashboard.putNumber("centerX", CommandBase.visionHelper.getCenterX());
     SmartDashboard.putNumber("horizontalError", CommandBase.visionHelper.getHorizontalError());
     SmartDashboard.putNumber("verticalError", CommandBase.visionHelper.getVerticalError());
     SmartDashboard.putNumber("horizontalErrorCorrected", CommandBase.visionHelper.getHorizontalError() + 5);
-    SmartDashboard.putNumber("goalDistance", 71 / Math.tan((52.7 - CommandBase.visionHelper.getVerticalError())));
+    SmartDashboard.putNumber("goalDistance", 55 / Math.tan((Math.PI/180) * (64 - CommandBase.visionHelper.getVerticalError())));
     if (Robot.oi.getJoysticks()[1].getRawButton(3)) {
       CommandBase.pneumatics.setArmStopState(true);
     } else {
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
index 7bcb348..2296375 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
@@ -80,11 +80,12 @@ public class MainArm extends PIDSubsystem {
       System.out.println("Calibrating bottom to: " + getRaw());
       min = getRaw();
       return true;
-    } else if (getTopPressed()) {
-      System.out.println("Calibrating top to: " + getRaw());
-      max = getRaw();
-      return true;
     }
+ //   } else if (getTopPressed()) {
+ //     System.out.println("Calibrating top to: " + getRaw());
+ //     max = getRaw();
+ //     return true;
+ //   }
     return false;
   }
 }
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/VisionHelper.java b/src/org/usfirst/frc/team2059/robot/subsystems/VisionHelper.java
index 2442e2f..887db79 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/VisionHelper.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/VisionHelper.java
@@ -7,28 +7,53 @@ import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj.networktables.NetworkTable;
 public class VisionHelper {
-  NetworkTable contoursTable;
+  NetworkTable linesTable, contoursTable;
   double imageWidth = 640;
   double imageHeight = 480;
   public VisionHelper() {
+    linesTable = NetworkTable.getTable("GRIP/lines");
     contoursTable = NetworkTable.getTable("GRIP/contours");
   }
   public double getCenterX() {
+    int highestLengthIndex = 0;
+    int index = 0;
+    double lengths[] = linesTable.getNumberArray("length", new double[0]);
+    double x1s[] = linesTable.getNumberArray("x1", new double[0]);
+    double x2s[] = linesTable.getNumberArray("x2", new double[0]);
+    for(double length : lengths){
+       if(length >= lengths[highestLengthIndex]){
+          highestLengthIndex=index;
+       }
+       index++;
+    }
+    System.out.println("Highest Length Index:"+ highestLengthIndex);
     try {
-      return contoursTable.getNumberArray("centerX", new double[0])[0];
+      return (x1s[highestLengthIndex]+x2s[highestLengthIndex])/2;
     } catch (Exception e) {
       return 0;
     }
   }
   public double getCenterY() {
+    int highestLengthIndex = 0;
+    int index = 0;
+    double lengths[] = linesTable.getNumberArray("length", new double[0]);
+    double y1s[] = linesTable.getNumberArray("y1", new double[0]);
+    double y2s[] = linesTable.getNumberArray("y2", new double[0]);
+    for(double length : lengths){
+       if(length >= lengths[highestLengthIndex]){
+          highestLengthIndex=index;
+       }
+       index++;
+    }
+    System.out.println("Highest Length Index:"+ highestLengthIndex);
     try {
-      return contoursTable.getNumberArray("centerY", new double[0])[0];
+      return (y1s[highestLengthIndex]+y2s[highestLengthIndex])/2;
     } catch (Exception e) {
       return 0;
     }
   }
   public double getHorizontalError() {
-    return (180/Math.PI) * (Math.atan((getCenterX() - (RobotMap.imageWidth / 2)) / RobotMap.fWidth));
+    return (180/Math.PI) * (Math.atan((getCenterX()-20 - (RobotMap.imageWidth / 2)) / RobotMap.fWidth));
   }
   public double getVerticalError() {
     return (180/Math.PI) * (Math.atan((getCenterY() - (RobotMap.imageHeight / 2)) / RobotMap.fHeight));