diff --git a/MainRobotLane.py b/MainRobotLane.py
index 95347fb..930e08e 100644
--- a/MainRobotLane.py
+++ b/MainRobotLane.py
@@ -1,19 +1,25 @@
-
-from kuukar import kuukar_motion
+import cv2
+from kuukar.kuukar import kuukar
 from LaneDetectionModule import getLaneCurve
+from utils import initializeTrackbars
 import WebcamModule
+
+car = kuukar()
+ 
  
 ##################################################
 ############### MAIN ROBOT LANE ##################
 ##################################################
  
 def main():
- 
+    
+    
+    
     img = WebcamModule.getImg()
-    curveVal= getLaneCurve(img,1)
+    curveVal= getLaneCurve(img,2)
  
     sen = 1.3  # SENSITIVITY
-    maxVAl= 0.3 # MAX SPEED
+    maxVAl= 1.0 # MAX SPEED
     if curveVal>maxVAl:curveVal = maxVAl
     if curveVal<-maxVAl: curveVal =-maxVAl
     #print(curveVal)
@@ -22,10 +28,14 @@ def main():
         if curveVal<0.05: curveVal=0
     else:
         if curveVal>-0.08: curveVal=0
-    motor.move(0.20,-curveVal*sen,0.05)
+    car.motion.skt_drive(0.15,-curveVal*sen,0.05)
+    print(curveVal)
     cv2.waitKey(1)
      
  
 if __name__ == '__main__':
+    initialTrackBarVals = [98, 141, 77, 220]
+    initializeTrackbars(initialTrackBarVals)
+    
     while True:
         main()
\ No newline at end of file