diff --git a/Code/Control/Laptop_Code/main_integrated_test.py b/Code/Control/Laptop_Code/main_integrated_test.py
index 4a24a9f2ae00fd46fc1589b4bace713aab74853a..1f1efaec3e203ba0e8f06debd4dda15db9cd2a30 100644
--- a/Code/Control/Laptop_Code/main_integrated_test.py
+++ b/Code/Control/Laptop_Code/main_integrated_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())
@@ -328,8 +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(modelAction, device, trainLoc, labelSet, modelLoc, modelFile)
+    model = ball_detection.returnModel(device, labelSet, modelLoc, modelFile)
 
 
     # =========== DECLARE VARIABLES ===========
@@ -348,31 +347,27 @@ if __name__ == '__main__':
     dir1, dir2, dir3, dir4 = '+', '+', '+', '+'
 
     # =========== LOOP FOREVER===========
-    # ESP32_SLAVE Talk First
-    # gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
+    # Trigger the ESP32_SLAVE Talk First
+    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)
+            time.sleep(waitTime)
 
-            
-        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 =====
-        
+        pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM)
 
         # ===== STEP 3: FEED ALL OUTPUT =====
-        
+        serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)
 
-        time.sleep(0.05)
+        time.sleep(waitTime)