diff --git a/Code/Control/Laptop_Code/main_zhiying_move2goal_test.py b/Code/Control/Laptop_Code/main_zhiying_move2goal_test.py
new file mode 100644
index 0000000000000000000000000000000000000000..c2c46537f0b99a5457d976f95cd6d90ee58bff63
--- /dev/null
+++ b/Code/Control/Laptop_Code/main_zhiying_move2goal_test.py
@@ -0,0 +1,371 @@
+import time
+import serial
+import ball_detection.ball_detection as ball_detection
+import simple_pid.PID as PID
+import timeit
+
+
+from constants import *
+
+# ========= Serial Port I/O ===========
+
+def serial_port_in(serial_port):
+ '''
+ Description:
+ Take all ESP32_Master serial port's printIn and take all necessary input object
+
+ Input:
+ serial_port : serial.Serail object
+
+ Output:
+ tx, ty, tz, rx, ry, rz, LIDAR_dist, DebugM
+ '''
+
+ # DEBUG Verbose
+ print("initiating one round of serial in ...")
+
+ for i in range(7):
+ line = serial_port.readline()
+ val = int(line.decode())
+
+ if i == 0:
+ tx = val
+ elif i == 1:
+ ty = val
+ elif i == 2:
+ tz = val
+ elif i == 3:
+ rx = val
+ elif i == 4:
+ ry = val
+ elif i == 5:
+ rz = val
+ elif i == 6:
+ LIDAR_dist = val
+
+ line = serial_port.readline()
+ debugM = line.decode()
+
+ # DEBUG Verbose
+ print("tx:{}".format(tx))
+ print("ty:{}".format(ty))
+ print("tz:{}".format(tz))
+ print("rx:{}".format(rx))
+ print("ry:{}".format(ry))
+ print("rz:{}".format(rz))
+ print("dist:{}".format(LIDAR_dist))
+ print(debugM)
+
+ return tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM
+
+
+def serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4):
+ '''
+ Description:
+ Feed to ESP32_Master to send ESP32_Slave necessary information
+ the format of sending is pwm are 3 digit space
+
+ Input:
+ serial_port : serial.Serail object
+ pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 : variables to send
+
+ Output:
+ None
+ '''
+
+ output_message = ''
+
+ for pwm_itr in [pwm1, pwm2, pwm3, pwm4]:
+ # print(pwm_itr)
+ if len(str(pwm_itr)) == 2:
+ output_message += '0'
+ elif len(str(pwm_itr)) == 1:
+ output_message += '00'
+ output_message += str(pwm_itr)
+ print(pwm_itr)
+
+ output_message = output_message + dir1 + dir2 + dir3 + dir4 + '\n'
+ print("serial out ...")
+ print(output_message)
+ serial_port.write(output_message.encode())
+
+
+# ====== supporting function in main control ====
+def ball_detect(gbx, gby):
+ '''
+ return True if green ball is detected
+ '''
+ if gbx == -1 and gby == -1:
+ return False
+ else:
+ return True
+
+def goal_detect(tx,ty):
+ '''
+ return True if April Tag is detected
+ '''
+ if tx == 0 and ty == 0:
+ return False
+ else:
+ return True
+
+def ball_capture(LIDAR_dist):
+ '''
+ return True if April Tag is detected
+ '''
+ if (LIDAR_dist < LIDAR_Thres) and (LIDAR_dist > 0): # Ball captured
+ return True
+ else:
+ return False
+
+def stop_all():
+ pwm1, pwm2, pwm3, pwm4 = 0 , 0 , 0 , 0
+ dir1, dir2, dir3, dir4 = '+', '-', '+', '-'
+ return pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4
+
+
+def move2goal(tx, ty):
+ """
+ Description:
+ Given the center of the AT tx, ty. Call PID control to output the blimp
+ motor to manuver to the goal
+
+ Input:
+ tx : x component, center of April Tag
+ ty : y component, center of Aprol Tag
+
+ Output:
+ pwm1, pwm2, pwm3, pwm4
+ dir1, dir2, dir3, dir4
+ """
+ inputx = tx / 1.00
+ inputy = -1.00 * (ty + AT_goal_Delta) / 1.00 #
+
+ # April Tag Center
+ setpoint_x1 = 0.0
+ setpoint_y1 = 0.0
+
+ pid_x = PID(kdx_g, kix_g, kpx_g, setpoint = setpoint_x1)
+ pid_y = PID(kdx_g, kiy_g, kpy_g, setpoint = setpoint_y1)
+
+ pid_x.auto_mode = True
+ pid_x.set_auto_mode(True, last_output = 8.0)
+ pid_x.output_limits = (-255,255)
+ pid_y.output_limits = (-255,255)
+
+ outputx = pid_x(inputx)
+ outputy = pid_y(inputy)
+
+ # Vertical
+ pwm1 = abs(outputy)
+ pwm2 = abs(outputy)
+
+ if(outputy > 0):
+ dir1 = '+'
+ dir2 = '+'
+ else:
+ dir1 = '-'
+ dir2 = '-'
+
+ # Horizontal
+ lspeed = -1 * outputx + base_speed
+ rspeed = 1 * outputx + base_speed
+ pwm3 = abs(lspeed)
+ pwm4 = abs(rspeed)
+ if (lspeed > 0):
+ dir3 = '+'
+ else:
+ dir3 = '-'
+ if (rspeed > 0):
+ dir4 = '+'
+ else:
+ dir4 = '-'
+
+ return int(pwm1), int(pwm2), int(pwm3), int(pwm4), dir1, dir2, dir3, dir4
+
+
+
+
+def seeking():
+ """
+ Description:
+ By default, when there ball is not determined capture, the manuver of the
+ motors to have it scan its surronding 360 degrees
+
+ Input:
+ none
+
+ Output:
+ pwm1, pwm2, pwm3, pwm4
+ dir1, dir2, dir3, dir4
+ """
+ pwm1, pwm2, pwm3, pwm4 = 0 , 0 , seeking_speed , seeking_speed
+ dir1, dir2, dir3, dir4 = '+', '+', '+', '-'
+
+ return int(pwm1), int(pwm2), int(pwm3), int(pwm4), dir1, dir2, dir3, dir4
+
+
+def move2ball(gbx, gby, gb_dist):
+ """
+ Description:
+ Given the center of x y dist of green ball detected. Call PID control to
+ output the blimp motor to manuver to the green ball
+
+ Input:
+ gbx : x component, center of green ball
+ gby : y component, center of green ball
+ gb_dist : distance to green ball
+
+ Output:
+ pwm1, pwm2, pwm3, pwm4
+ dir1, dir2, dir3, dir4
+ """
+ inputx = gbx / 1.00
+ inputy = gby / 1.00
+
+ setpoint_x = 400
+ setpoint_y = 300 # ESP 32 Cam Center
+
+ pid_x = PID(kpx,kix,kdx,setpoint=setpoint_x)
+ pid_y = PID(kpy,kiy,kdy,setpoint=setpoint_y)
+
+
+ pid_x.auto_mode = True
+ pid_x.set_auto_mode(True, last_output=8.0)
+ pid_x.output_limits = (-255,255)
+ pid_y.output_limits = (-255,255)
+
+
+ outputx = pid_x(inputx)
+ outputy = pid_y(inputy)
+
+ # vertical
+ pwm1 = abs(outputy)
+ pwm2 = abs(outputy)
+
+ if(outputy > 0):
+ dir1 = '+'
+ dir2 = '+'
+ else:
+ dir1 = '-'
+ dir2 = '-'
+
+ # horizontal
+ lspeed = -1 * outputx + base_speed
+ rspeed = 1 * outputx + base_speed
+ pwm3 = min( abs(lspeed), 255)
+ pwm4 = min( abs(rspeed), 255)
+ if (lspeed > 0):
+ dir3 = '+'
+ else:
+ dir3 = '-'
+
+ if (rspeed > 0):
+ dir4 = '+'
+ else:
+ dir4 = '-'
+
+
+ return int(pwm1), int(pwm2), int(pwm3), int(pwm4), dir1, dir2, dir3, dir4
+
+
+
+# =========== main control ===========
+
+def main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM):
+ '''
+ Description:
+ Given green ball information and AT information, the main control logic
+ to manuver the blimp motors
+
+ Input:
+ gbx, gby, gb_dist : green ball information
+ tx, ty, tz, rx, ry, rz, LIDAR_dist : AirTag information
+ debugM : Debug Message
+
+ Output:
+ pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 : Blimp motor manuver parameters
+ '''
+
+ # # placeholder
+ pwm1, pwm2, pwm3, pwm4 = 0 , 0 , 0 , 0
+ dir1, dir2, dir3, dir4 = '+', '-', '+', '-'
+
+ ballDetect = ball_detect(gbx, gby)
+ ballCapture = ball_capture(LIDAR_dist)
+ goalDetect = goal_detect(tx,ty)
+ # debug
+ ballCapture = 0
+ if ballCapture: # Ball captured
+ if goalDetect: # Goal detected
+ stop_all()
+ #pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = move2goal(tx, ty)
+ else: # Goal not detected
+ stop_all()
+ #pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = seeking()
+ else: # Ball not captured
+ if ballDetect: # Ball detected
+ pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = move2ball(gbx,gby,gb_dist)
+ else: # Ball not detected
+ # stop_all()
+ pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = seeking()
+
+ return pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4
+
+
+
+# ===== Main Functions =====
+
+if __name__ == '__main__':
+ # =========== SET UP ============
+ # Defining Variables for ESP 32 Serial I/O
+ PORT = "COM6" # for Alienware
+ serial_port = serial.Serial(PORT, 115200)
+ serial_port.close()
+ serial_port.open()
+
+ # Weit Time
+ waitTime = 0.05
+
+ # Loading the PyTorch ML model for ball detection
+ model = ball_detection.returnModel(device, labelSet, modelLoc, modelFile)
+ #model = ball_detection.returnModel(modelAction, device, trainLoc, labelSet, modelLoc, modelFile)
+
+
+ # =========== DECLARE VARIABLES ===========
+ # ESP CAM In
+ gbx, gby = -1, -1 # by default (-1 means no found green ball)
+ gb_dist = -1 # by default (-1 means no found green ball)
+
+ # Serial Port In
+ tx, ty, tz = 0, 0, 0 # by default (0 means no found AirTag)
+ rx, ry, rz = 0, 0, 0
+ LIDAR_dist = 0
+ debugM = 'Testing'
+
+ # Serial Port Out
+ pwm1, pwm2, pwm3, pwm4 = 0 , 0 , 0 , 0 # Not moving
+ dir1, dir2, dir3, dir4 = '+', '+', '+', '+'
+
+ # =========== LOOP FOREVER===========
+ # ESP32_SLAVE Talk First
+ gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
+ pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM)
+ serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)
+
+ while True:
+ # ===== STEP 1: TAKE ALL INPUT =====
+ gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
+ line = serial_port.readline()
+
+ if line == b'SERIAL_IN_START\r\n':
+ tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM = serial_port_in(serial_port)
+ print("gbx,gby:{},{}".format(gbx,gby))
+
+ # ===== STEP 2: MAIN CONTROL LOOP =====
+ pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM)
+
+ # ===== STEP 3: FEED ALL OUTPUT =====
+ serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)
+
+ time.sleep(waitTime)