diff --git a/Code/Control/Laptop_Code/main_keyboard.py b/Code/Control/Laptop_Code/previous_high_level/main_keyboard.py
similarity index 96%
rename from Code/Control/Laptop_Code/main_keyboard.py
rename to Code/Control/Laptop_Code/previous_high_level/main_keyboard.py
index 757c83833bbe7a9ae71737881cd0067760f6f9f6..ce27fa6b8eae25e1b900a181115529b711b5b544 100644
--- a/Code/Control/Laptop_Code/main_keyboard.py
+++ b/Code/Control/Laptop_Code/previous_high_level/main_keyboard.py
@@ -7,7 +7,7 @@ import cv2
 from constants import *
 
 global ml
-ml = 0
+ml = 1
 if ml == 1:
     import ball_detection.ball_detection as ball_detection
 
@@ -107,7 +107,7 @@ def goal_detect(tx,ty):
     '''
     return True if April Tag is detected
     '''
-    if tx == 100000 and ty == 100000:
+    if tx == 0 and ty == 0:
         return False
     else:
         return True
@@ -399,6 +399,8 @@ def manual_control(Ctl_com,serial_port):
     pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = decode_ctl(Ctl_com)
 
     waitTime = 0.05
+    # changed
+    gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
 
     serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)
 
@@ -458,11 +460,18 @@ def variables_change_once():
     str_name = input("Enter your variable: ")
     dynamic_variable(str_name)
 
+def auto_init(init_count,gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM):
+    if ml == 1:
+        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)
+    init_count += 1
+    return init_count
 # ===== Main Function =====
 if __name__ == '__main__':
     # =========== SET UP ============
     # Defining Variables for ESP 32 Serial I/O
-    PORT = "COM22" # Based on your own serial port number
+    PORT = "COM6" # Based on your own serial port number
     serial_port = serial.Serial(PORT, 115200)
     serial_port.close()
     serial_port.open()
@@ -491,14 +500,12 @@ if __name__ == '__main__':
     dir1, dir2, dir3, dir4 = '+', '+', '+', '+'
 
     # Trigger the ESP32_SLAVE to talk first
-    if ml == 1:
-        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)
+
 
     Ctl_com = [0, 0, 0, 0, "+", "+", "+", "+"]
     flag = 0
     print_count = 1
+    init_count = 0
     global start_speed
     start_speed = 70
 
@@ -509,6 +516,9 @@ if __name__ == '__main__':
         if get_key('a'):
             flag = 1
             while (flag == 1):
+                if init_count == 0:
+                     init_count = auto_init(init_count,gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM)
+
                 auto_control(serial_port,gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM)
                 flag, print_count = keyboard_stop(flag,print_count)