diff --git a/chameleon-server/chameleon-vision.iml b/chameleon-server/chameleon-vision.iml
index e14bee233..11b1a05d0 100644
--- a/chameleon-server/chameleon-vision.iml
+++ b/chameleon-server/chameleon-vision.iml
@@ -12,20 +12,6 @@
     </content>
     <orderEntry type="inheritedJdk" />
     <orderEntry type="sourceFolder" forTests="false" />
-    <orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-java:2020.1.2" level="project" />
-    <orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-jni:linuxaarch64bionic:2020.1.2" level="project" />
-    <orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-jni:linuxraspbian:2020.1.2" level="project" />
-    <orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-jni:linuxx86-64:2020.1.2" level="project" />
-    <orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-jni:osxx86-64:2020.1.2" level="project" />
-    <orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-jni:windowsx86-64:2020.1.2" level="project" />
-    <orderEntry type="library" name="Maven: edu.wpi.first.cameraserver:cameraserver-java:2020.1.2" level="project" />
-    <orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-java:2020.1.2" level="project" />
-    <orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-jni:osxx86-64:2020.1.2" level="project" />
-    <orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-jni:linuxraspbian:2020.1.2" level="project" />
-    <orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-jni:linuxx86-64:2020.1.2" level="project" />
-    <orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-jni:linuxaarch64bionic:2020.1.2" level="project" />
-    <orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-jni:windowsx86-64:2020.1.2" level="project" />
-    <orderEntry type="library" name="Maven: edu.wpi.first.wpiutil:wpiutil-java:2020.1.2" level="project" />
     <orderEntry type="library" name="Maven: io.javalin:javalin:3.4.1" level="project" />
     <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib-jdk8:1.3.31" level="project" />
     <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib:1.3.31" level="project" />
diff --git a/chameleon-server/pom.xml b/chameleon-server/pom.xml
index e95b6f171..c5a1f3c64 100644
--- a/chameleon-server/pom.xml
+++ b/chameleon-server/pom.xml
@@ -5,6 +5,7 @@
     <modelVersion>4.0.0</modelVersion>
     <groupId>org.chameleon-vision.main</groupId>
     <artifactId>chameleon-vision</artifactId>
+
     <version>2.2-RELEASE</version>
     <build>
         <plugins>
diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java b/chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
index 66478c2d9..a1776398c 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
@@ -25,7 +25,6 @@ import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpiutil.CircularBuffer;
 import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.Mat;
-
 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
@@ -212,9 +211,8 @@ public class VisionProcess {
                             }
                             center.add(bestTarget.minAreaRect.center.x);
                             center.add(bestTarget.minAreaRect.center.y);
-
                         } catch (ClassCastException ignored) {
-
+                          
                         }
                     } else {
                         pointMap.put("pitch", null);
diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
index eded3b1a8..110e885e1 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
@@ -48,6 +48,7 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
         if(isHighGoal) {
             // tl, bl, br, tr is the order
             List<Point3> corners = List.of(
+
                 new Point3(-19.625, 0, 0),
                 new Point3(-9.819867, -17, 0),
                 new Point3(9.819867, -17, 0),
@@ -176,6 +177,7 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
         tempMat2f.fromArray(hullPoints);
 
         Imgproc.approxPolyDP(tempMat2f, polyOutput, 5, true);
+
         var polyList = polyOutput.toList();
 
         polyOutput.copyTo(target.approxPoly);
@@ -347,7 +349,6 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
         var boundingBr = new Point (
             xList.get(2), yList.get(2)
         );
-
         System.out.println("tl/br:\n" + boundingTl.toString() + "\n" + boundingBr.toString());
 
         var slightlyBiggerTl = new Point(