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+</svg>
diff --git a/ground_station/.idea/workspace.xml b/ground_station/.idea/workspace.xml
index 62e81c3..642f654 100644
--- a/ground_station/.idea/workspace.xml
+++ b/ground_station/.idea/workspace.xml
@@ -21,8 +21,8 @@
       <file leaf-file-name="RoverGroundStation.py" pinned="false" current-in-tab="true">
         <entry file="file://$PROJECT_DIR$/RoverGroundStation.py">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="408">
-              <caret line="183" column="25" lean-forward="true" selection-start-line="183" selection-start-column="25" selection-end-line="183" selection-end-column="25" />
+            <state relative-caret-position="357">
+              <caret line="84" column="25" lean-forward="false" selection-start-line="84" selection-start-column="25" selection-end-line="84" selection-end-column="25" />
               <folding>
                 <element signature="e#260#270#0" expanded="true" />
               </folding>
@@ -47,12 +47,12 @@
   </component>
   <component name="ProjectFrameBounds">
     <option name="x" value="55" />
-    <option name="y" value="24" />
-    <option name="width" value="1865" />
-    <option name="height" value="1056" />
+    <option name="y" value="52" />
+    <option name="width" value="1360" />
+    <option name="height" value="1028" />
   </component>
   <component name="ProjectView">
-    <navigator currentView="ProjectPane" proportions="" version="1">
+    <navigator proportions="" version="1">
       <flattenPackages />
       <showMembers />
       <showModules />
@@ -65,24 +65,7 @@
       <manualOrder />
       <foldersAlwaysOnTop value="true" />
     </navigator>
-    <panes>
-      <pane id="Scope" />
-      <pane id="ProjectPane">
-        <subPane>
-          <PATH>
-            <PATH_ELEMENT>
-              <option name="myItemId" value="ground_station" />
-              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.ProjectViewProjectNode" />
-            </PATH_ELEMENT>
-            <PATH_ELEMENT>
-              <option name="myItemId" value="ground_station" />
-              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.PsiDirectoryNode" />
-            </PATH_ELEMENT>
-          </PATH>
-        </subPane>
-      </pane>
-      <pane id="Scratches" />
-    </panes>
+    <panes />
   </component>
   <component name="PropertiesComponent">
     <property name="WebServerToolWindowFactoryState" value="false" />
@@ -323,28 +306,28 @@
     <servers />
   </component>
   <component name="ToolWindowManager">
-    <frame x="55" y="24" width="1865" height="1056" extended-state="6" />
+    <frame x="55" y="52" width="1360" height="1028" extended-state="4" />
     <editor active="false" />
     <layout>
-      <window_info id="Project" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="true" show_stripe_button="true" weight="0.13468939" sideWeight="0.5" order="0" side_tool="false" content_ui="combo" />
+      <window_info id="Project" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.13468939" sideWeight="0.5" order="0" side_tool="false" content_ui="combo" />
       <window_info id="TODO" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="6" side_tool="false" content_ui="tabs" />
       <window_info id="Event Log" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.32916668" sideWeight="0.50192416" order="7" side_tool="true" content_ui="tabs" />
       <window_info id="Database" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="3" side_tool="false" content_ui="tabs" />
-      <window_info id="File Transfer" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.32916668" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
       <window_info id="Version Control" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="false" weight="0.33" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
       <window_info id="Python Console" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
-      <window_info id="Run" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.32960325" sideWeight="0.5" order="2" side_tool="false" content_ui="tabs" />
       <window_info id="Structure" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
-      <window_info id="Terminal" active="true" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="true" show_stripe_button="true" weight="0.41145834" sideWeight="0.49807587" order="7" side_tool="false" content_ui="tabs" />
+      <window_info id="Terminal" active="true" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="true" show_stripe_button="true" weight="0.18347639" sideWeight="0.49807587" order="7" side_tool="false" content_ui="tabs" />
       <window_info id="Favorites" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="2" side_tool="true" content_ui="tabs" />
-      <window_info id="Debug" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.4" sideWeight="0.5" order="3" side_tool="false" content_ui="tabs" />
       <window_info id="Cvs" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="4" side_tool="false" content_ui="tabs" />
       <window_info id="Message" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="0" side_tool="false" content_ui="tabs" />
       <window_info id="Commander" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.4" sideWeight="0.5" order="0" side_tool="false" content_ui="tabs" />
       <window_info id="Inspection" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.4" sideWeight="0.5" order="5" side_tool="false" content_ui="tabs" />
+      <window_info id="File Transfer" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.32916668" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
+      <window_info id="Run" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.32960325" sideWeight="0.5" order="2" side_tool="false" content_ui="tabs" />
       <window_info id="Hierarchy" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="2" side_tool="false" content_ui="combo" />
       <window_info id="Find" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
       <window_info id="Ant Build" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
+      <window_info id="Debug" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.4" sideWeight="0.5" order="3" side_tool="false" content_ui="tabs" />
     </layout>
     <layout-to-restore>
       <window_info id="TODO" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="6" side_tool="false" content_ui="tabs" />
@@ -379,6 +362,16 @@
     <watches-manager />
   </component>
   <component name="editorHistoryManager">
+    <entry file="file://$PROJECT_DIR$/RoverGroundStation.py">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="0">
+          <caret line="0" column="0" lean-forward="false" selection-start-line="0" selection-start-column="0" selection-end-line="0" selection-end-column="0" />
+          <folding>
+            <element signature="e#260#270#0" expanded="true" />
+          </folding>
+        </state>
+      </provider>
+    </entry>
     <entry file="file://$USER_HOME$/.PyCharm2016.3/system/remote_sources/-1418177152/1376253408/cv_bridge/core.py">
       <provider selected="true" editor-type-id="text-editor">
         <state relative-caret-position="471">
@@ -396,8 +389,8 @@
     </entry>
     <entry file="file://$PROJECT_DIR$/RoverGroundStation.py">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="408">
-          <caret line="183" column="25" lean-forward="true" selection-start-line="183" selection-start-column="25" selection-end-line="183" selection-end-column="25" />
+        <state relative-caret-position="357">
+          <caret line="84" column="25" lean-forward="false" selection-start-line="84" selection-start-column="25" selection-end-line="84" selection-end-column="25" />
           <folding>
             <element signature="e#260#270#0" expanded="true" />
           </folding>
diff --git a/ground_station/RoverGroundStation.py b/ground_station/RoverGroundStation.py
index 74b49ec..e61b12b 100755
--- a/ground_station/RoverGroundStation.py
+++ b/ground_station/RoverGroundStation.py
@@ -82,7 +82,7 @@ class VideoTest(QtCore.QThread):
                 self.pixmap = QtGui.QPixmap.fromImage(qimage2ndarray.array2qimage(self.cv_image))
                 self.image_ready_signal.emit()
                 #print "doin stuff"
-            self.msleep(10)
+            self.msleep(20)
         # TODO: Thread ending message here
 
     def __on_image_update_ready(self):
@@ -176,7 +176,7 @@ class GroundStation(QtCore.QObject):
 
         # Start ROSCORE
         self.video_test = VideoTest(self.right_screen.primary_video_label, sub_path="/cam1/usb_cam1/image_raw/compressed")
-        self.video_test_1 = VideoTest(self.right_screen.secondary_video_label, (640, 360), sub_path="/cam2/usb_cam2/image_raw//compressed")
+        self.video_test_1 = VideoTest(self.right_screen.secondary_video_label, (640, 360), sub_path="/cam2/usb_cam2/image_raw/compressed")
         self.video_test_2 = VideoTest(self.right_screen.tertiary_video_label, (640, 360), sub_path="/zed/right/image_raw_color/compressed")
         self.drive_test = DriveTest()