diff --git a/FRC_Fiducial_Tracking/Picam2Calibration_Capture.py b/FRC_Fiducial_Tracking/Picam2Calibration_Capture.py
index a8fa8ab..73ec330 100644
--- a/FRC_Fiducial_Tracking/Picam2Calibration_Capture.py
+++ b/FRC_Fiducial_Tracking/Picam2Calibration_Capture.py
@@ -2,14 +2,15 @@ from Picam2Vid import Picam2Vid
 import cv2
 import os
 
-stream = Picam2Vid((1536, 864))
+stream = Picam2Vid((2304, 1296))
 
 path = "/home/tyler/Desktop/FRC-Apriltag-Pose-Detection/FRC_Fiducial_Tracking/Static_Tag_Pics/"
 
 stream.update()
 frame = stream.read()
 cv2.imshow("frame", frame)
-cv2.waitKey(1)
+cv2.waitKey(0)
+cv2.destroyAllWindows()
 confirmation = input("keep y or n: ")
 print(frame)
 if confirmation == "y":
diff --git a/FRC_Fiducial_Tracking/Picam2Vid.py b/FRC_Fiducial_Tracking/Picam2Vid.py
index 69677d3..210a4e9 100644
--- a/FRC_Fiducial_Tracking/Picam2Vid.py
+++ b/FRC_Fiducial_Tracking/Picam2Vid.py
@@ -1,6 +1,5 @@
 from picamera2 import Picamera2
 from libcamera import Transform
-from threading import Thread
 
 # class for allocating a thread to only updating the camera stream,
 # the other thread is used for detection processing
@@ -11,10 +10,10 @@ class Picam2Vid:
         #  For specs - https://www.raspberrypi.com/documentation/accessories/camera.html
         self.camera = Picamera2()
         self.resolution = camera_res
-        config = self.camera.create_still_configuration(main={"size": self.resolution}, transform=Transform(hflip=True), lores={"size": (640,480)}, encode='main')
+        config = self.camera.create_video_configuration(main={"format": "XRGB8888", "size": self.resolution}, transform=Transform(hflip=True))
         #config = self.camera.create_video_configuration(raw={"size":camera_res})
         self.camera.configure(config)
-        self.camera.set_controls({"FrameRate": 120})
+        #self.camera.set_controls({"FrameRate": 120})
         self.frame = None
         self.stopped = False
         self.camera.start()
diff --git a/FRC_Fiducial_Tracking/Static_Apriltag_Test.py b/FRC_Fiducial_Tracking/Static_Apriltag_Test.py
index 56e552e..ded0719 100644
--- a/FRC_Fiducial_Tracking/Static_Apriltag_Test.py
+++ b/FRC_Fiducial_Tracking/Static_Apriltag_Test.py
@@ -17,27 +17,27 @@ detector = dt_apriltags.Detector(searchpath=['apriltags'],
                        quad_sigma=0.0,
                        refine_edges=1,
                        decode_sharpening=0.25,
-                       debug=1)
+                       debug=0)
 
-image = cv2.imread("/home/tyler/Desktop/FRC-Apriltag-Pose-Detection/FRC_Fiducial_Tracking/Static_Tag_Pics/7.png")
+image = cv2.imread("/home/tyler/Desktop/FRC-Apriltag-Pose-Detection/FRC_Fiducial_Tracking/Static_Tag_Pics/13.jpg")
 
-h,  w = image.shape[:2]
-newcameramtx, roi = cv2.getOptimalNewCameraMatrix(camera_matrix, dist, (w,h), 1, (w,h))
+#h,  w = image.shape[:2]
+#newcameramtx, roi = cv2.getOptimalNewCameraMatrix(camera_matrix, dist, (w,h), 1, (w,h))
 
 # undistort
-dst = cv2.undistort(image, camera_matrix, dist, None, newcameramtx)
+#dst = cv2.undistort(image, camera_matrix, dist, None, newcameramtx)
  
 # crop the image
-x, y, w, h = roi
-dst = dst[y:y+h, x:x+w]
+#x, y, w, h = roi
+#dst = dst[y:y+h, x:x+w]
 
-dst = cv2.cvtColor(dst, cv2.COLOR_BGR2GRAY)
+grey = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
 
-print(dst)
+print(grey)
 
-cv2.imshow("frame", dst)
-cv2.waitKey(1)
+cv2.imshow("frame", grey)
+cv2.waitKey(0)
 
-output = detector.detect(dst, estimate_tag_pose=False, camera_params=None, tag_size=None)
+output = detector.detect(grey, estimate_tag_pose=False, camera_params=None, tag_size=None)
 
 print(output)
\ No newline at end of file
diff --git a/FRC_Fiducial_Tracking/Static_Tag_Pics/10.jpg b/FRC_Fiducial_Tracking/Static_Tag_Pics/10.jpg
new file mode 100644
index 0000000..88f769f
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diff --git a/FRC_Fiducial_Tracking/Static_Tag_Pics/11.jpg b/FRC_Fiducial_Tracking/Static_Tag_Pics/11.jpg
new file mode 100644
index 0000000..f896f27
Binary files /dev/null and b/FRC_Fiducial_Tracking/Static_Tag_Pics/11.jpg differ
diff --git a/FRC_Fiducial_Tracking/Static_Tag_Pics/12.jpg b/FRC_Fiducial_Tracking/Static_Tag_Pics/12.jpg
new file mode 100644
index 0000000..bf91d7b
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diff --git a/FRC_Fiducial_Tracking/Static_Tag_Pics/13.jpg b/FRC_Fiducial_Tracking/Static_Tag_Pics/13.jpg
new file mode 100644
index 0000000..85ca0aa
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diff --git a/FRC_Fiducial_Tracking/Static_Tag_Pics/9.jpg b/FRC_Fiducial_Tracking/Static_Tag_Pics/9.jpg
new file mode 100644
index 0000000..d449270
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diff --git a/FRC_Fiducial_Tracking/__pycache__/Picam2Vid.cpython-311.pyc b/FRC_Fiducial_Tracking/__pycache__/Picam2Vid.cpython-311.pyc
index 39cd881..92c5973 100644
Binary files a/FRC_Fiducial_Tracking/__pycache__/Picam2Vid.cpython-311.pyc and b/FRC_Fiducial_Tracking/__pycache__/Picam2Vid.cpython-311.pyc differ