diff --git a/Code/Control/Laptop_Code/main_keyboard.py b/Code/Control/Laptop_Code/main_keyboard.py
index 5484805f9cb220477814c69e67ce697c21ca3c83..8e2540abcf6e1bd1006da15d0daa60396b2c2048 100644
--- a/Code/Control/Laptop_Code/main_keyboard.py
+++ b/Code/Control/Laptop_Code/main_keyboard.py
@@ -329,15 +329,9 @@ def get_key(keyname):
     pygame.display.update()
     return ans
 
-def auto_control(serial_port):
-    # =================================== tested autonomous control ======================================================
+def auto_control(serial_port,gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM):
     # ===== STEP 1: TAKE ALL INPUT =====
-    waitTime = 0.05
-    if ml == 1:
-        gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight=True)
-    else:
-        gbx, gby = -1, -1
-        gb_dist = -1
+    # gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
     line = serial_port.readline()
 
     if line == b'SERIAL_IN_START\r\n':
@@ -352,8 +346,7 @@ def auto_control(serial_port):
     # ===== STEP 3: FEED ALL OUTPUT =====
     serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)
 
-    time.sleep(waitTime)  # second
-    # =========================================================================================
+    time.sleep(waitTime)
 
 def decode_ctl(Ctl_com):
     pwm1 = Ctl_com[0]
@@ -484,11 +477,12 @@ if __name__ == '__main__':
         if get_key('a'):
             flag = 1
             while (flag == 1):
-                auto_control(serial_port)
+                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)
 
         elif get_key('s'):
-            stop_all()
+            pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = stop_all()
+            serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)
             print("stop all motors")
 
         elif get_key('m'):