diff --git a/Code/Kamil's Feather Code/Camera.cpp b/Code/Kamil's Feather Code/Camera.cpp
index 539896f7012278ffac18160fd5bc9ca940393fd7..fb27cf808991a0b2083ca36f412ba1aa088527e6 100644
--- a/Code/Kamil's Feather Code/Camera.cpp	
+++ b/Code/Kamil's Feather Code/Camera.cpp	
@@ -69,36 +69,23 @@ bool Camera::exe_color_detection_biggestblob(int8_t l_min, int8_t l_max, int8_t
   }
 }
 
-void Camera::exe_led_detection(){
-      //int8_t color_thresholds[6] = {l_min, l_max, a_min, a_max, b_min, b_max};
-    int8_t color_thresholds[6] = {26, 100, -108, -9, 0, -42};
-    //struct { uint16_t cx, cy; } color_detection_result;
-    short buff[128 + 1] = {};
-    if (interface->call(F("LED_detection"), color_thresholds, sizeof(color_thresholds), buff, sizeof(buff)-1)) {
-          int i = 0;
-          Serial.println("LED detected");
-          while (buff[i] != '\0' && i<100) {
-            Serial.print(buff[i]);
-            i++;  
-          }
-          Serial.println("");
-    }
-}
 
-bool Camera::exe_goalfinder(int goal1, int goal2, int goal3, int&id, int&tx, int&ty, int&tz, int&rx, int&ry, int&rz){
-  int goalid[3] = {goal1, goal2, goal3};
+bool Camera::exe_goalfinder(int8_t goal1, int8_t goal2, int8_t goal3, int&id, int&tx, int&ty, int&tz, int&rx, int&ry, int&rz){
+  int8_t goalid[3] = {goal1, goal2, goal3};
   struct { uint16_t cid, ctx, cty, ctz, crx, cry, crz; } goalfinder_result;
-  interface->call(F("goalfinder"), goalid, sizeof(goalid), goalfinder_result, sizeof(goalfinder_result));
+  if(interface->call(F("goalfinder"), goalid, sizeof(goalid), &goalfinder_result, sizeof(goalfinder_result))){
+    
+  }
   if (goalfinder_result.crx == 0 && goalfinder_result.cry == 0){
     return false;
   } else {
-    goalfinder.cid = id;
-    goalfinder.ctx = tx;
-    goalfinder.cty = ty;
-    goalfinder.ctz = tz;
-    goalfinder.crx = rx;
-    goalfinder.cry = ry;
-    goalfinder.crz = rz;
+    id = goalfinder_result.cid;
+    tx = goalfinder_result.ctx;
+    ty = goalfinder_result.cty;
+    tz = goalfinder_result.ctz;
+    rx = goalfinder_result.crx;
+    ry = goalfinder_result.cry;
+    rz = goalfinder_result.crz;
     return true;
   }
 }