diff --git a/software/rover/gate_navigation/.idea/workspace.xml b/software/rover/gate_navigation/.idea/workspace.xml
index fea4b27..08da8cd 100644
--- a/software/rover/gate_navigation/.idea/workspace.xml
+++ b/software/rover/gate_navigation/.idea/workspace.xml
@@ -14,7 +14,7 @@
       <file leaf-file-name="gate_navi.py" pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/gate_navi.py">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="306">
+            <state relative-caret-position="162">
               <caret line="22" column="5" lean-forward="true" selection-start-line="22" selection-start-column="5" selection-end-line="22" selection-end-column="5" />
               <folding>
                 <element signature="e#0#10#0" expanded="true" />
@@ -26,8 +26,8 @@
       <file leaf-file-name="ball_tracking.py" pinned="false" current-in-tab="true">
         <entry file="file://$PROJECT_DIR$/ball_tracking.py">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="234">
-              <caret line="20" column="26" lean-forward="true" selection-start-line="20" selection-start-column="26" selection-end-line="20" selection-end-column="26" />
+            <state relative-caret-position="264">
+              <caret line="20" column="51" lean-forward="true" selection-start-line="20" selection-start-column="51" selection-end-line="20" selection-end-column="51" />
               <folding>
                 <element signature="e#127#156#0" expanded="true" />
               </folding>
@@ -205,7 +205,7 @@
   <component name="editorHistoryManager">
     <entry file="file://$PROJECT_DIR$/gate_navi.py">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="306">
+        <state relative-caret-position="162">
           <caret line="22" column="5" lean-forward="true" selection-start-line="22" selection-start-column="5" selection-end-line="22" selection-end-column="5" />
           <folding>
             <element signature="e#0#10#0" expanded="true" />
@@ -215,8 +215,8 @@
     </entry>
     <entry file="file://$PROJECT_DIR$/ball_tracking.py">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="234">
-          <caret line="20" column="26" lean-forward="true" selection-start-line="20" selection-start-column="26" selection-end-line="20" selection-end-column="26" />
+        <state relative-caret-position="264">
+          <caret line="20" column="51" lean-forward="true" selection-start-line="20" selection-start-column="51" selection-end-line="20" selection-end-column="51" />
           <folding>
             <element signature="e#127#156#0" expanded="true" />
           </folding>
diff --git a/software/rover/gate_navigation/ball_tracking.py b/software/rover/gate_navigation/ball_tracking.py
index 46a6054..9da76ce 100644
--- a/software/rover/gate_navigation/ball_tracking.py
+++ b/software/rover/gate_navigation/ball_tracking.py
@@ -18,14 +18,16 @@ args = vars(ap.parse_args())
 # define the lower and upper boundaries of the "green"
 # ball in the HSV color space, then initialize the
 # list of tracked points
-greenLower = (50, 112, 50)
-greenUpper = (144, 255, 145)
+greenLower = np.array((40, 100, 50), dtype="uint8")
+greenUpper = np.array((64, 255, 255), dtype="uint8")
+# lower_yellow = np.array([30, 255, 135], dtype=np.uint8)
+# upper_yellow = np.array([40, 255, 185], dtype=np.uint8)
 pts = deque(maxlen=args["buffer"])
 
 # if a video path was not supplied, grab the reference
 # to the webcam
 if not args.get("video", False):
-    camera = cv2.VideoCapture(1)
+    camera = cv2.VideoCapture(0)
 
 # otherwise, grab a reference to the video file
 else:
@@ -51,6 +53,7 @@ while True:
     # a series of dilations and erosions to remove any small
     # blobs left in the mask
     mask = cv2.inRange(hsv, greenLower, greenUpper)
+    # mask = cv2.inRange(hsv, lower_yellow, upper_yellow)
     mask = cv2.erode(mask, None, iterations=2)
     mask = cv2.dilate(mask, None, iterations=2)
 
@@ -69,8 +72,10 @@ while True:
         M = cv2.moments(c)
         center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))
 
+        area = M['m00']
+
         # only proceed if the radius meets a minimum size
-        if radius > 1:
+        if area > 100:
             # draw the circle and centroid on the frame,
             # then update the list of tracked points
             cv2.circle(frame, (int(x), int(y)), int(radius), (0, 255, 255), 2)