diff --git a/frc971/control_loops/python/constants.py b/frc971/control_loops/python/constants.py
index e0b4878..4a74b4a 100644
--- a/frc971/control_loops/python/constants.py
+++ b/frc971/control_loops/python/constants.py
@@ -1,41 +1,39 @@
 import argparse
 
 arg_parser = argparse.ArgumentParser(description='spline_editor')
-arg_parser.add_argument(
-    'size',
-    metavar='N',
-    default=800,
-    type=int,
-    nargs='?',
-    help="size of the screen")
+arg_parser.add_argument('size',
+                        metavar='N',
+                        default=800,
+                        type=int,
+                        nargs='?',
+                        help="size of the screen")
 args = arg_parser.parse_args()
 SCREEN_SIZE = args.size
 
 WIDTH_OF_ROBOT = 0.65
 LENGTH_OF_ROBOT = 0.8
 
-ROBOT_SIDE_TO_BALL_CENTER = 0.15 # Placeholder value
+ROBOT_SIDE_TO_BALL_CENTER = 0.15  # Placeholder value
 BALL_RADIUS = 0.165
-ROBOT_SIDE_TO_HATCH_PANEL = 0.1 # Placeholder value
+ROBOT_SIDE_TO_HATCH_PANEL = 0.1  # Placeholder value
 HATCH_PANEL_WIDTH = 0.4826
 
 FIELD = 2020
 
 if FIELD == 2019:
-    WIDTH_OF_FIELD_IN_METERS = 8.258302 # Half Field
+    WIDTH_OF_FIELD_IN_METERS = 8.258302  # Half Field
 elif FIELD == 2020:
-    WIDTH_OF_FIELD_IN_METERS = 15.98295 # Full Field
-    LENGTH_OF_FIELD_IN_METERS = 8.21055 # Full Field
+    WIDTH_OF_FIELD_IN_METERS = 15.98295  # Full Field
+    LENGTH_OF_FIELD_IN_METERS = 8.21055  # Full Field
 
-def pxToM(p, length = False):
-    if(length):
-        return p * LENGTH_OF_FIELD_IN_METERS / (SCREEN_SIZE/2)
+
+def pxToM(p):
     return p * WIDTH_OF_FIELD_IN_METERS / SCREEN_SIZE
 
-def mToPx(m, length = False):
-    if(length):
-        return (m*(SCREEN_SIZE/2)/LENGTH_OF_FIELD_IN_METERS)
-    return (m*SCREEN_SIZE/WIDTH_OF_FIELD_IN_METERS)
+
+def mToPx(m):
+    return (m * SCREEN_SIZE / WIDTH_OF_FIELD_IN_METERS)
+
 
 def inToM(i):
-    return (i*0.0254)
+    return (i * 0.0254)
diff --git a/frc971/control_loops/python/drawing_constants.py b/frc971/control_loops/python/drawing_constants.py
index a2ddf5d..332f37e6 100644
--- a/frc971/control_loops/python/drawing_constants.py
+++ b/frc971/control_loops/python/drawing_constants.py
@@ -3,6 +3,7 @@
 from constants import *
 import numpy as np
 
+
 def set_color(cr, color, a=1):
     if color.a == 1.0:
         cr.set_source_rgba(color.r, color.g, color.b, a)
@@ -36,12 +37,14 @@
     cr.stroke()
     set_color(cr, palette["WHITE"])
 
-def draw_circle(cr,  x, y, radius, color=palette["RED"]):
+
+def draw_circle(cr, x, y, radius, color=palette["RED"]):
     set_color(cr, color)
-    cr.arc(x, y, radius, 0, 2*np.pi)
+    cr.arc(x, y, radius, 0, 2 * np.pi)
     cr.fill()
     cr.stroke()
 
+
 def draw_control_points(cr, points, width=10, radius=4, color=palette["BLUE"]):
     for i in range(0, len(points)):
         draw_px_x(cr, points[i][0], points[i][1], width, color)
@@ -50,25 +53,31 @@
         cr.fill()
         set_color(cr, palette["WHITE"])
 
+
 def display_text(cr, text, widtha, heighta, widthb, heightb):
     cr.scale(widtha, -heighta)
     cr.show_text(text)
     cr.scale(widthb, -heightb)
 
+
 def markers(cr):
     SHOW_MARKERS = False
     if SHOW_MARKERS:
         # Shield Generator Reference
         color = palette["BLUE"]
-        yorigin = 0-SCREEN_SIZE/2 # Move origin to bottom left
+        yorigin = 0 - SCREEN_SIZE / 2  # Move origin to bottom left
         # Top Left
-        draw_circle(cr, mToPx(inToM(206.625)), yorigin + mToPx(inToM(212.097), True), 10, color)
+        draw_circle(cr, mToPx(inToM(206.625)),
+                    yorigin + mToPx(inToM(212.097), True), 10, color)
         # Top Right
-        draw_circle(cr, mToPx(inToM(373.616)), yorigin + mToPx(inToM(281.26), True), 10, color)
+        draw_circle(cr, mToPx(inToM(373.616)),
+                    yorigin + mToPx(inToM(281.26), True), 10, color)
         # Bottom Right
-        draw_circle(cr, mToPx(inToM(422.625)), yorigin + mToPx(inToM(124.67), True), 10, color)
+        draw_circle(cr, mToPx(inToM(422.625)),
+                    yorigin + mToPx(inToM(124.67), True), 10, color)
         # Bottom Left
-        draw_circle(cr, mToPx(inToM(255.634)), yorigin + mToPx(inToM(55.5), True), 10, color)
+        draw_circle(cr, mToPx(inToM(255.634)),
+                    yorigin + mToPx(inToM(55.5), True), 10, color)
 
         # Trench Run Reference
         color = palette["GREEN"]
@@ -76,106 +85,101 @@
         # Bottom Right
         draw_circle(cr, mToPx(inToM(206.625)), yorigin, 10, color)
         # Top Right
-        draw_circle(cr, mToPx(inToM(206.625)), yorigin + mToPx(inToM(55.5), True), 10, color)
+        draw_circle(cr, mToPx(inToM(206.625)),
+                    yorigin + mToPx(inToM(55.5), True), 10, color)
         # Top Left
-        draw_circle(cr, mToPx(inToM(422.625)), yorigin + mToPx(inToM(55.5), True), 10, color)
+        draw_circle(cr, mToPx(inToM(422.625)),
+                    yorigin + mToPx(inToM(55.5), True), 10, color)
         # Bottom Left
         draw_circle(cr, mToPx(inToM(422.625)), yorigin, 10, color)
 
         # Top Trench Run
         # Top Right
-        draw_circle(cr, mToPx(inToM(206.625)), yorigin + mToPx(inToM(323.25), True), 10, color)
+        draw_circle(cr, mToPx(inToM(206.625)),
+                    yorigin + mToPx(inToM(323.25), True), 10, color)
         # Bottom Right
-        draw_circle(cr, mToPx(inToM(206.625)), yorigin + mToPx(inToM(281.26), True), 10, color)
+        draw_circle(cr, mToPx(inToM(206.625)),
+                    yorigin + mToPx(inToM(281.26), True), 10, color)
         # Top Left
-        draw_circle(cr, mToPx(inToM(422.625)), yorigin + mToPx(inToM(281.26), True), 10, color)
+        draw_circle(cr, mToPx(inToM(422.625)),
+                    yorigin + mToPx(inToM(281.26), True), 10, color)
         # Bottom Left
-        draw_circle(cr, mToPx(inToM(422.625)), yorigin + mToPx(inToM(323.25), True), 10, color)
+        draw_circle(cr, mToPx(inToM(422.625)),
+                    yorigin + mToPx(inToM(323.25), True), 10, color)
         cr.stroke()
 
-def draw_init_lines(cr):
-    yorigin = 0-SCREEN_SIZE/2 # Move origin to bottom left
-    set_color(cr, palette["RED"])
-    cr.move_to(mToPx(inToM(120)), yorigin)
-    cr.line_to(mToPx(inToM(120)), yorigin + mToPx(8.21055, True))
 
-    cr.move_to(mToPx(inToM(505.25)), yorigin)
-    cr.line_to(mToPx(inToM(505.25)), yorigin + mToPx(8.21055, True))
+def draw_init_lines(cr):
+    set_color(cr, palette["RED"])
+    init_line_x = WIDTH_OF_FIELD_IN_METERS / 2.0 - inToM(120)
+    init_start_y = -LENGTH_OF_FIELD_IN_METERS / 2.0
+    init_end_y = LENGTH_OF_FIELD_IN_METERS / 2.0
+    cr.move_to(mToPx(init_line_x), mToPx(init_start_y))
+    cr.line_to(mToPx(init_line_x), mToPx(init_end_y))
+
+    cr.move_to(mToPx(-init_line_x), mToPx(init_start_y))
+    cr.line_to(mToPx(-init_line_x), mToPx(init_end_y))
 
     cr.stroke()
 
+
 def draw_trench_run(cr):
-    set_color(cr, palette["GREEN"])
-    yorigin = 0-SCREEN_SIZE/2 # Move origin to bottom left
-    cr.move_to(mToPx(inToM(206.625)), yorigin)
-    cr.line_to(mToPx(inToM(206.625)), yorigin + mToPx(inToM(55.5), True))
+    edge_of_field_y = LENGTH_OF_FIELD_IN_METERS / 2.0
+    edge_of_trench_y = edge_of_field_y - inToM(55.5)
+    trench_start_x = inToM(-108.0)
+    trench_length_x = inToM(216.0)
+    ball_line_y = edge_of_field_y - inToM(27.75)
+    ball_one_x = -inToM(72)
+    ball_two_x = -inToM(36)
+    ball_three_x = 0.0
+    # The fourth/fifth balls are referenced off of the init line...
+    ball_fourfive_x = WIDTH_OF_FIELD_IN_METERS / 2.0 - inToM(120.0 + 130.36)
 
-    cr.move_to(mToPx(inToM(206.625)), yorigin + mToPx(inToM(55.5), True))
-    cr.line_to(mToPx(inToM(422.625)), yorigin + mToPx(inToM(55.5), True))
-
-    cr.move_to(mToPx(inToM(422.625)), yorigin + mToPx(inToM(55.5), True))
-    cr.line_to(mToPx(inToM(422.625)), yorigin)
-
-    cr.move_to(mToPx(inToM(206.625)), yorigin + mToPx(inToM(323.25), True))
-    cr.line_to(mToPx(inToM(206.625)), yorigin + mToPx(inToM(281.26), True))
-
-    cr.move_to(mToPx(inToM(206.625)), yorigin + mToPx(inToM(281.26), True))
-    cr.line_to(mToPx(inToM(422.625)), yorigin + mToPx(inToM(281.26), True))
-
-    cr.move_to(mToPx(inToM(422.625)), yorigin + mToPx(inToM(281.26), True))
-    cr.line_to(mToPx(inToM(422.625)), yorigin + mToPx(inToM(323.25), True))
+    for sign in [1.0, -1.0]:
+        set_color(cr, palette["GREEN"])
+        cr.rectangle(mToPx(sign * trench_start_x),
+                     mToPx(sign * edge_of_field_y),
+                     mToPx(sign * trench_length_x),
+                     mToPx(sign * (edge_of_trench_y - edge_of_field_y)))
+        cr.stroke()
+        draw_circle(cr, mToPx(sign * ball_one_x), mToPx(sign * ball_line_y),
+                    mToPx(0.1), palette["YELLOW"])
+        draw_circle(cr, mToPx(sign * ball_two_x), mToPx(sign * ball_line_y),
+                    mToPx(0.1), palette["YELLOW"])
+        draw_circle(cr, mToPx(sign * ball_three_x), mToPx(sign * ball_line_y),
+                    mToPx(0.1), palette["YELLOW"])
 
     cr.stroke()
 
+
 def draw_shield_generator(cr):
     set_color(cr, palette["BLUE"])
-    yorigin = 0-SCREEN_SIZE/2 # Move origin to bottom left
-
-    cr.move_to(mToPx(inToM(206.625)), yorigin + mToPx(inToM(212.097), True))
-    cr.line_to(mToPx(inToM(373.616)), yorigin + mToPx(inToM(281.26), True))
-
-    cr.move_to(mToPx(inToM(373.616)), yorigin + mToPx(inToM(281.26), True))
-    cr.line_to(mToPx(inToM(422.625)), yorigin + mToPx(inToM(124.67), True))
-
-    cr.move_to(mToPx(inToM(422.625)), yorigin + mToPx(inToM(124.67), True))
-    cr.line_to(mToPx(inToM(255.634)), yorigin + mToPx(inToM(55.5), True))
-
-    cr.move_to(mToPx(inToM(255.634)), yorigin + mToPx(inToM(55.5), True))
-    cr.line_to(mToPx(inToM(206.625)), yorigin + mToPx(inToM(212.097), True))
+    cr.save()
+    cr.rotate(22.5 * np.pi / 180.)
+    generator_width = mToPx(inToM(14 * 12 + 0.75))
+    generator_height = mToPx(inToM(13 * 12 + 1.5))
+    cr.rectangle(-generator_width / 2.0, -generator_height / 2.0,
+                 generator_width, generator_height)
+    cr.restore()
 
     cr.stroke()
 
-def draw_control_panel(cr): # Base plates are not included
+
+def draw_control_panel(cr):  # Base plates are not included
     set_color(cr, palette["LIGHT_GREY"])
-    yorigin = 0-SCREEN_SIZE/2 # Move origin to bottom left
-    # Bottom Control Panel
-    # Top Line
-    cr.move_to(mToPx(inToM(225.624)), yorigin + mToPx(inToM(55.5), True))
-    cr.line_to(mToPx(inToM(285.624)), yorigin + mToPx(inToM(55.5), True))
-
-    # Left Line
-    cr.move_to(mToPx(inToM(225.624)),  yorigin + mToPx(inToM(55.5), True))
-    cr.line_to(mToPx(inToM(225.624)), yorigin)
-
-    # Right Line
-    cr.move_to(mToPx(inToM(285.624)), yorigin + mToPx(inToM(55.5), True))
-    cr.line_to(mToPx(inToM(285.624)), yorigin)
-
-    # Top Control Panel
-    # Bottom Line
-    cr.move_to(mToPx(inToM(403.616)), yorigin + mToPx(inToM(281.26), True))
-    cr.line_to(mToPx(inToM(343.616)), yorigin + mToPx(inToM(281.26), True))
-
-    # Right Line
-    cr.move_to(mToPx(inToM(403.616)), yorigin + mToPx(inToM(281.26), True))
-    cr.line_to(mToPx(inToM(403.616)), yorigin + mToPx(inToM(323.25), True))
-
-    # Left Line
-    cr.move_to(mToPx(inToM(343.616)), yorigin + mToPx(inToM(281.26), True))
-    cr.line_to(mToPx(inToM(343.616)), yorigin + mToPx(inToM(323.25), True))
+    edge_of_field_y = LENGTH_OF_FIELD_IN_METERS / 2.0
+    edge_of_trench_y = edge_of_field_y - inToM(55.5)
+    high_x = inToM(374.59) - WIDTH_OF_FIELD_IN_METERS / 2.0
+    low_x = high_x - inToM(30)
+    for sign in [1.0, -1.0]:
+        # Bottom Control Panel
+        # Top Line
+        cr.rectangle(sign * mToPx(high_x), sign * mToPx(edge_of_field_y),
+                     -sign * mToPx(inToM(30)), -sign * mToPx(inToM(55.5)))
 
     cr.stroke()
 
+
 def draw_HAB(cr):
     # BASE Constants
     X_BASE = 0
@@ -430,6 +434,7 @@
                  mToPx(1.41605))
     cr.stroke()
 
+
 def draw_points(cr, p, size):
     for i in range(0, len(p)):
         draw_px_cross(cr, p[i][0], p[i][1], size,
diff --git a/frc971/control_loops/python/path_edit.py b/frc971/control_loops/python/path_edit.py
index c186711..31d7a37 100755
--- a/frc971/control_loops/python/path_edit.py
+++ b/frc971/control_loops/python/path_edit.py
@@ -75,7 +75,6 @@
         self.module_path = os.path.dirname(os.path.realpath(sys.argv[0]))
 
     """set extents on images"""
-
     def reinit_extents(self):
         self.extents_x_min = -1.0 * SCREEN_SIZE
         self.extents_x_max = SCREEN_SIZE
@@ -220,12 +219,16 @@
         cr.show_text('Press "e" to export')
         cr.show_text('Press "i" to import')
 
+        cr.save()
+        cr.translate(mToPx(WIDTH_OF_FIELD_IN_METERS) / 2.0, 0.0)
         set_color(cr, palette["BLACK"])
         if FIELD == 2020:
-            cr.rectangle(0, mToPx(-7.991475), SCREEN_SIZE, SCREEN_SIZE/2)
+            cr.rectangle(-mToPx(WIDTH_OF_FIELD_IN_METERS) / 2.0,
+                         -mToPx(LENGTH_OF_FIELD_IN_METERS) / 2.0,
+                         mToPx(WIDTH_OF_FIELD_IN_METERS),
+                         mToPx(LENGTH_OF_FIELD_IN_METERS))
         else:
-            cr.rectangle(0, mToPx(-7.991475), SCREEN_SIZE, SCREEN_SIZE)
-            print(mToPx(-7.991475))
+            cr.rectangle(0, -SCREEN_SIZE / 2, SCREEN_SIZE, SCREEN_SIZE)
         cr.set_line_join(cairo.LINE_JOIN_ROUND)
         cr.stroke()
         self.draw_field_elements(cr)
@@ -282,8 +285,9 @@
 
         cr.paint_with_alpha(0.2)
 
-        mygraph = Graph(cr, self.points)
         draw_px_cross(cr, self.x, self.y, 10)
+        cr.restore()
+        mygraph = Graph(cr, self.points)
 
     def draw_splines(self, cr):
         holder_spline = []
@@ -312,10 +316,10 @@
     def mouse_move(self, event):
         old_x = self.x
         old_y = self.y
-        self.x = event.x
+        self.x = event.x - mToPx(WIDTH_OF_FIELD_IN_METERS / 2.0)
         self.y = event.y
-        dif_x = event.x - old_x
-        dif_y = event.y - old_y
+        dif_x = self.x - old_x
+        dif_y = self.y - old_y
         difs = np.array([pxToM(dif_x), pxToM(dif_y)])
 
         if self.mode == Mode.kEditing:
@@ -344,7 +348,7 @@
             self.mode = Mode.kEditing
             self.points.resetPoints()
             self.points.resetSplines()
-            print("LOADING LOAD FROM " + file_name) # Load takes a few seconds
+            print("LOADING LOAD FROM " + file_name)  # Load takes a few seconds
             with open(self.path_to_export) as points_file:
                 self.points.setUpSplines(json.load(points_file))
 
@@ -399,7 +403,8 @@
                 # Save the index of the point closest
                 nearest = 1  # Max distance away a the selected point can be in meters
                 index_of_closest = 0
-                for index_splines, points in enumerate(self.points.getSplines()):
+                for index_splines, points in enumerate(
+                        self.points.getSplines()):
                     for index_points, val in enumerate(points):
                         distance = np.sqrt((cur_p[0] - val[0])**2 +
                                            (cur_p[1] - val[1])**2)
@@ -414,6 +419,6 @@
 
     def do_button_press(self, event):
         # Be consistent with the scaling in the drawing_area
-        self.x = event.x * 2
+        self.x = event.x * 2 - mToPx(WIDTH_OF_FIELD_IN_METERS / 2.0)
         self.y = event.y * 2
         self.button_press_action()
diff --git a/frc971/control_loops/python/spline_jsons/output_file_name.json b/frc971/control_loops/python/spline_jsons/output_file_name.json
new file mode 100644
index 0000000..3c0f1cd
--- /dev/null
+++ b/frc971/control_loops/python/spline_jsons/output_file_name.json
@@ -0,0 +1 @@
+[[[-3.8872582495409955, 0.28597845199632693], [-2.395108571601685, 0.25006215846088564], [-1.4261356362129025, 0.21880273565743844], [3.1831247467772927, 0.09566624396267474], [3.89779063039706, 0.1120965139633672], [4.3348366261980456, 0.10474398848262147]]]
\ No newline at end of file