diff --git a/Code/Control/Laptop_Code/main_integrated_test.py b/Code/Control/Laptop_Code/main_integrated_test.py
index 1f1efaec3e203ba0e8f06debd4dda15db9cd2a30..b7223615bb8021d1ab192815fcdef78dee4e69b9 100644
--- a/Code/Control/Laptop_Code/main_integrated_test.py
+++ b/Code/Control/Laptop_Code/main_integrated_test.py
@@ -104,7 +104,7 @@ def goal_detect(tx,ty):
     '''
     return True if April Tag is detected
     '''
-    if tx == 0 and ty == 0:
+    if tx == 100000 and ty == 100000:
         return False
     else:
         return True
@@ -161,11 +161,11 @@ def move2goal(tx, ty):
     pwm2 = abs(outputy)
 
     if(outputy > 0):
-        dir1 = '+'
-        dir2 = '+'
-    else:
         dir1 = '-'
         dir2 = '-'
+    else:
+        dir1 = '+'
+        dir2 = '+'
 
     # Horizontal
     lspeed = -1 * outputx + base_speed
@@ -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 = "COM20" # for Alienware
+    PORT = "COM6" # for Alienware
     serial_port = serial.Serial(PORT, 115200)
     serial_port.close()
     serial_port.open()
@@ -337,7 +337,7 @@ if __name__ == '__main__':
     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)
+    tx, ty, tz = 100000, 100000, 100000  # by default (0 means no found AirTag)
     rx, ry, rz = 0, 0, 0
     LIDAR_dist = 0
     debugM = 'Testing'