diff --git a/python/vernier_tracker.py b/python/vernier_tracker.py
index 1d499f2..d18970d 100644
--- a/python/vernier_tracker.py
+++ b/python/vernier_tracker.py
@@ -22,7 +22,7 @@ def rectFromPoint(center, len, width, axis):
 	return rect
 
 
-def rectsFromPoint(center, l1, l2, l3, w, axis):
+def rectsFromPoint(center, l1, l2, l3, w, cOffset, axis):
 	centerFine = center
 	fineInner = rectFromPoint(centerFine, l1, w, axis)
 	if(axis == 'x'):
@@ -36,25 +36,25 @@ def rectsFromPoint(center, l1, l2, l3, w, axis):
 	
 	centerCoarse = center
 	if(axis == 'x'):
-		centerCoarse = (center[0], center[1] + w)
+		centerCoarse = (center[0], center[1] + cOffset)
 	elif(axis == 'y'):
-		centerCoarse = (center[0] + w, center[1])
+		centerCoarse = (center[0] + cOffset, center[1])
 	coarse = rectFromPoint(centerCoarse, l3, w, axis)
 		
 	return [fineInnerNeg, fineInnerPos, fineInner, fineOuter, coarse, center]
 	
 	
 def moveROI(event, x, y, flags, params):
-	global roiX, roiY, moving, l1, l2, l3, w, selectedAxis
+	global roiX, roiY, moving, l1, l2, l3, w, cOffset, selectedAxis
 	if event == cv2.EVENT_LBUTTONDOWN:
 		moving = True
 
 	elif event==cv2.EVENT_MOUSEMOVE:
 		if moving==True:
 			if(selectedAxis == 'x'):
-				roiX = rectsFromPoint((x, y), l1, l2, l3, w, selectedAxis)
+				roiX = rectsFromPoint((x, y), l1, l2, l3, w, cOffset, selectedAxis)
 			elif(selectedAxis == 'y'):
-				roiY = rectsFromPoint((x, y), l1, l2, l3, w, selectedAxis)
+				roiY = rectsFromPoint((x, y), l1, l2, l3, w, cOffset, selectedAxis)
 
 	elif event == cv2.EVENT_LBUTTONUP:
 		moving = False
@@ -118,7 +118,7 @@ def drawRoi(frame, roi):
 	cv2.line(frame, (center[0], center[1] - 5), (center[0], center[1] + 5), (0, 255, 0), 1)
 
 def picameraToCVTrack():
-	global roiX, roiY, moving, l1, l2, l3, w, selectedAxis, dilationKernel, calibrate, oscClient
+	global roiX, roiY, moving, l1, l2, l3, w, selectedAxis, dilationVal, dilationKernel, calibrate, oscClient
 	
 	while True:
 		frame = picam2.capture_buffer("lores")
@@ -148,14 +148,18 @@ def picameraToCVTrack():
 		if key == ord('+'):
 			dilationVal = dilationVal + 1
 			dilationKernel = genDKernel(dilationVal)
+			print(dilationVal)
 		elif key == ord('-'):
 			if dilationVal > 0:
 				dilationVal = dilationVal - 1
 				dilationKernel = genDKernel(dilationVal)
+				print(dilationVal)
 		elif key == ord('x'):
 			selectedAxis = 'x'
+			print(selectedAxis)
 		elif key == ord('y'):
 			selectedAxis = 'y'
+			print(selectedAxis)
 		elif key == ord('c'):
 			if calibrate:
 				calibrate = False
@@ -220,12 +224,13 @@ moving = False
 l1 = 100
 l2 = 300
 l3 = 40
-w = 20
+w = 10
+cOffset = 23;
 roiXCenter = (384, 20)
 roiYCenter = (20, 384)
-roiX = rectsFromPoint(roiXCenter, l1, l2, l3, w, 'x')
-roiY = rectsFromPoint(roiYCenter, l1, l2, l3, w, 'y')
-dilationVal = 75
+roiX = rectsFromPoint(roiXCenter, l1, l2, l3, w, cOffset, 'x')
+roiY = rectsFromPoint(roiYCenter, l1, l2, l3, w, cOffset, 'y')
+dilationVal = 70
 dilationKernel = genDKernel(dilationVal)
 calibrate = True
 
diff --git a/supercollider/installation_control.scd b/supercollider/installation_control.scd
index 440a1ba..7ac4dbc 100644
--- a/supercollider/installation_control.scd
+++ b/supercollider/installation_control.scd
@@ -4,7 +4,7 @@
 var imageDist, micronsPerStep, automation, imgPositions, curPos, tarPos,
 netAddress, serialPort, serialListener,
 moveTo, jogControl, jogHorizontal, jogVertical,
-imgSelect, imgCalibrate, automate, lastSelect, trackerPos;
+imgSelect, imgCalibrate, automate, lastSelect, trackerPos, trackerOffsetBaseDist, trackerOffset;
 
 // init global vars
 imageDist = 300; // in microns
@@ -14,7 +14,23 @@ imgPositions = 9.collect({nil});
 curPos = Point.new(0, 0);
 tarPos = Point.new(0, 0);
 netAddress = NetAddr.new("127.0.0.1", 8080);
-lastSelect = 0;
+lastSelect = -1;
+trackerOffsetBaseDist = 16000;
+trackerOffset = [
+	[trackerOffsetBaseDist * 1, trackerOffsetBaseDist * 1],
+	[trackerOffsetBaseDist * 0, trackerOffsetBaseDist * 1],
+	[trackerOffsetBaseDist * -1, trackerOffsetBaseDist * 1],
+
+	[trackerOffsetBaseDist * 1, trackerOffsetBaseDist * 0],
+	[trackerOffsetBaseDist * 0, trackerOffsetBaseDist * 0],
+	[trackerOffsetBaseDist * -1, trackerOffsetBaseDist * 0],
+
+	[trackerOffsetBaseDist * 1, trackerOffsetBaseDist * -1],
+	[trackerOffsetBaseDist * 0, trackerOffsetBaseDist * -1],
+	[trackerOffsetBaseDist * -1, trackerOffsetBaseDist * -1]
+];
+
+
 ~serialPort = SerialPort("/dev/ttyACM0", baudrate: 115200, crtscts: true);
 
 // recieve motor feedback
@@ -121,7 +137,7 @@ imgSelect = {
 			lastSelect = imgIndex;
 		}, {
 			lastSelect.postln;
-			if(msg[1] == ((lastSelect + 1) * -1), {"here".postln; lastSelect = 0})
+			if(msg[1] == ((lastSelect + 1) * -1), {"here".postln; lastSelect = -1})
 			//lastSelect = 0;
 			/*
 			imgIndex = msg[1].neg - 1;
@@ -136,8 +152,17 @@ imgSelect = {
 imgCalibrate = {
 	var calibrateHold, imgIndex, setPos;
 	calibrateHold = Routine({
+		var imageCalibrationIndex = 0;
 		20.do({0.1.wait});
-		imgPositions[imgIndex] = setPos.deepCopy;
+		//imgPositions[imgIndex] = setPos.deepCopy;
+		[-1, 0, 1].do({arg row;
+			[-1, 0, 1].do({arg col;
+				imgPositions[imageCalibrationIndex] = setPos.deepCopy + Point.new(6550 * col, 6550 * row);
+				imgPositions[imageCalibrationIndex].postln;
+				imageCalibrationIndex = imageCalibrationIndex + 1;
+			});
+		});
+
 		imgPositions.postln;
 		netAddress.sendMsg("/STATE/SET", "{message: \"image calibrated\"}");
 	});
@@ -167,17 +192,17 @@ automate = OSCFunc({arg msg;
 
 trackerPos = OSCFunc({arg msg;
 	//imgPositions.postln[lastSelect.postln];
-	if(lastSelect.postln > 0, {
+	if(lastSelect.postln > -1, {
 		var distX, distY, isFocusing;
 		distX = curPos.x - imgPositions[lastSelect].x;
 		distY = curPos.y - imgPositions[lastSelect].y;
 		isFocusing = false;
-		if((imgPositions[lastSelect] != nil) && (distX.abs < 500) && (msg[1].abs > 8000), {
-			tarPos.x = curPos.x + (10 * msg[1].sign);// * -1);
+		if((imgPositions[lastSelect] != nil) && (distX.abs < 300) && ((msg[1] - trackerOffset[lastSelect][0]).abs > 3000), {
+			tarPos.x = curPos.x + (10 * (msg[1] - trackerOffset[lastSelect][0]).sign);// * -1);
 			isFocusing = true;
 		});
-		if((imgPositions[lastSelect] != nil) && (distY.abs < 500) && (msg[2].abs > 8000), {
-			tarPos.y = curPos.y + (10 * msg[2].sign);// * -1);
+		if((imgPositions[lastSelect] != nil) && (distY.abs < 300) && ((msg[2] - trackerOffset[lastSelect][1]).abs > 3000), {
+			tarPos.y = curPos.y + (10 * (msg[2] - trackerOffset[lastSelect][1]).sign);// * -1);
 			isFocusing = true;
 		});
 		if(isFocusing, {moveTo.value(tarPos)});