diff --git a/Code/Control/Laptop_Code/main_zhiying_move2goal_test.py b/Code/Control/Laptop_Code/main_zhiying_move2goal_test.py
index 3b922eb952023d69318047cd3a4713ab6e89dd95..4a24a9f2ae00fd46fc1589b4bace713aab74853a 100644
--- a/Code/Control/Laptop_Code/main_zhiying_move2goal_test.py
+++ b/Code/Control/Laptop_Code/main_zhiying_move2goal_test.py
@@ -1,6 +1,6 @@
 import time
 import serial
-import ball_detection.ball_detection as ball_detection
+# import ball_detection.ball_detection as ball_detection
 import simple_pid.PID as PID
 import timeit
 
@@ -23,7 +23,7 @@ def serial_port_in(serial_port):
 
     # DEBUG Verbose
     print("initiating one round of serial in ...")
-
+    
     for i in range(7):
         line = serial_port.readline()
         val = int(line.decode())
@@ -319,7 +319,7 @@ def main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM):
 if __name__ == '__main__':
     # =========== SET UP ============
     # Defining Variables for ESP 32 Serial I/O
-    PORT = "COM6" # for Alienware
+    PORT = "COM20" # for Alienware
     serial_port = serial.Serial(PORT, 115200)
     serial_port.close()
     serial_port.open()
@@ -328,7 +328,7 @@ if __name__ == '__main__':
     waitTime = 0.05
 
     # Loading the PyTorch ML model for ball detection
-    model = ball_detection.returnModel(device, labelSet, modelLoc, modelFile)
+    # model = ball_detection.returnModel(device, labelSet, modelLoc, modelFile)
     #model = ball_detection.returnModel(modelAction, device, trainLoc, labelSet, modelLoc, modelFile)
 
 
@@ -338,7 +338,7 @@ if __name__ == '__main__':
     gb_dist = -1         # by default (-1 means no found green ball)
 
     # Serial Port In
-    tx, ty, tz = 100000, 100000, 100000  # by default (0 means no found AirTag)
+    tx, ty, tz = 0, 0, 0  # by default (0 means no found AirTag)
     rx, ry, rz = 0, 0, 0
     LIDAR_dist = 0
     debugM = 'Testing'
@@ -349,23 +349,30 @@ if __name__ == '__main__':
 
     # =========== LOOP FOREVER===========
     # ESP32_SLAVE Talk First
-    gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
+    # 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)
+        # 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))
+            time.sleep(0.05)
 
-        # ===== 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)
+        
+        serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)
+        # ===== STEP 2: MAIN CONTROL LOOP =====
+        
 
         # ===== STEP 3: FEED ALL OUTPUT =====
-        serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)
+        
 
-        time.sleep(waitTime)
+        time.sleep(0.05)