diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/freesight/vision/FreeSightPipeline.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/freesight/vision/FreeSightPipeline.java
index c872a6c..6c87f94 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/freesight/vision/FreeSightPipeline.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/freesight/vision/FreeSightPipeline.java
@@ -9,6 +9,7 @@ import org.opencv.core.Mat;
 import org.opencv.core.MatOfPoint;
 import org.opencv.core.MatOfRect;
 import org.opencv.core.Rect;
+import org.opencv.core.Point;
 import org.opencv.core.Scalar;
 import org.opencv.imgproc.Imgproc;
 import org.openftc.easyopencv.OpenCvPipeline;
@@ -32,7 +33,7 @@ public class FreeSightPipeline extends OpenCvPipeline {
 
     public Scalar lowHSV = new Scalar(0,0,0);
     public Scalar highHSV = new Scalar(0,0,0);
-    public Scalar outline = new Scalar(0,0,0);
+    public Scalar outline = new Scalar(0,255,0);
     public Prop colorState = Prop.NONE;
 
     /**
@@ -118,7 +119,8 @@ public class FreeSightPipeline extends OpenCvPipeline {
             Rect boundingRect = Imgproc.boundingRect(contour);
             // center is ( x + w ) / 2
 
-            int point = (boundingRect.x + boundingRect.width) / 2;
+            // int point = (boundingRect.x + boundingRect.width) / 2;
+            int point = boundingRect.x + boundingRect.width / 2;
 
             Imgproc.rectangle(
                     threshRGB,
@@ -141,6 +143,8 @@ public class FreeSightPipeline extends OpenCvPipeline {
             }
 
         Imgproc.rectangle(threshRGB, new Rect(bigX, 0, width / 3, height), outline);
+        Imgproc.circle(threshRGB, new Point(boundingRect.x + boundingRect.width / 2, boundingRect.y + boundingRect.height / 2), 10, outline);
+        Imgproc.putText(threshRGB, positionState.toString(), new Point(boundingRect.x + boundingRect.width / 2, boundingRect.y + boundingRect.height / 2), Imgproc.FONT_ITALIC, 0.5, new Scalar(255, 0, 255));
     }
 
         //list of frames to reduce inconsistency, not too many so that it is still real-time, change the number from 5 if you want