diff --git a/frc971/control_loops/python/drawing_constants.py b/frc971/control_loops/python/drawing_constants.py
index 8d64e0b..644e449 100644
--- a/frc971/control_loops/python/drawing_constants.py
+++ b/frc971/control_loops/python/drawing_constants.py
@@ -1,6 +1,5 @@
 import cairo
 from color import Color, palette
-from constants import *
 import numpy as np
 
 
@@ -59,467 +58,6 @@
     cr.show_text(text)
     cr.scale(widthb, -heightb)
 
-
-def draw_at_home_grid(cr):
-    field = np.zeros(shape=(5, 11), dtype=bool)
-    # field[row from bottom][column from left]
-
-    if GALACTIC_SEARCH in FIELD.tags:
-        # Galactic search start zone
-        field[1][0] = True
-        field[3][0] = True
-
-        # Galactic search end zone
-        field[1][10] = True
-        field[3][10] = True
-
-        if ARED in FIELD.tags:
-            field[4][5] = True
-            field[2][2] = True
-            field[1][4] = True
-        elif ABLUE in FIELD.tags:
-            field[0][5] = True
-            field[3][6] = True
-            field[2][8] = True
-        elif BRED in FIELD.tags:
-            field[3][2] = True
-            field[1][4] = True
-            field[3][6] = True
-        elif BBLUE in FIELD.tags:
-            field[1][5] = True
-            field[3][7] = True
-            field[1][9] = True
-    elif AUTONAV in FIELD.tags:
-        # start/end zone
-        field[1][0] = True
-        field[1][1] = True
-        field[3][0] = True
-        field[3][1] = True
-
-        if BARREL in FIELD.tags:
-            # barrels
-            field[1][4] = True
-            field[3][7] = True
-            field[1][9] = True
-        if SLALOM in FIELD.tags:
-            field[1][3:8] = True  # 3 to 7 inclusive
-            field[1][9] = True
-        if BOUNCE in FIELD.tags:
-            # turn on two rows
-            field[1][:11] = True
-            field[3][:11] = True
-
-            # turn off parts of rows
-            field[3][2] = False
-            field[3][5] = False
-            field[3][8] = False
-
-            field[1][3] = False
-            field[1][5] = False
-            field[1][8] = False
-
-            # markers to hit
-            field[4][2] = True
-            field[4][5] = True
-            field[4][8] = True
-
-    # Move origin to bottom left
-    xorigin = -mToPx(FIELD.width) / 2.0
-    yorigin = -mToPx(FIELD.length) / 2.0
-
-    color = palette["BLACK"]
-    # markers are at least 6.35 x 6.35 cm
-    marker_length = mToPx(0.0635)
-
-    for row, row_array in enumerate(field):
-        for column, has_marker in enumerate(row_array):
-            one_indexed_row = row + 1
-            one_indexed_column = column + 1
-
-            # 76.2 cm increments
-            pos_y = one_indexed_row * mToPx(0.762)
-            pos_x = one_indexed_column * mToPx(0.762)
-
-            if has_marker:
-                draw_px_x(cr, xorigin + pos_x, yorigin + pos_y, marker_length,
-                          color)
-
-
-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
-        # Top Left
-        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)
-        # Bottom Right
-        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)
-
-        # Trench Run Reference
-        color = palette["GREEN"]
-        # Bottom Trench Run
-        # 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)
-        # Top Left
-        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)
-        # Bottom Right
-        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)
-        # Bottom Left
-        draw_circle(cr, mToPx(inToM(422.625)),
-                    yorigin + mToPx(inToM(323.25), True), 10, color)
-        cr.stroke()
-
-
-def draw_init_lines(cr):
-    set_color(cr, palette["RED"])
-    init_line_x = FIELD.width / 2.0 - inToM(120)
-    init_start_y = -FIELD.length / 2.0
-    init_end_y = FIELD.length / 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):
-    edge_of_field_y = FIELD.length / 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 = FIELD.width / 2.0 - inToM(120.0 + 130.36)
-
-    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"])
-    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
-    set_color(cr, palette["LIGHT_GREY"])
-    edge_of_field_y = FIELD.length / 2.0
-    edge_of_trench_y = edge_of_field_y - inToM(55.5)
-    high_x = inToM(374.59) - FIELD.width / 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
-    Y_BASE = 0
-    R = 0.381 - .1
-    BACKWALL_X = X_BASE
-    LOADING_Y = mToPx(4.129151) - mToPx(0.696976)
-    # HAB Levels 2 and 3 called in variables backhab
-    # draw loading stations
-    cr.move_to(0, LOADING_Y)
-    cr.line_to(mToPx(0.6), LOADING_Y)
-    cr.move_to(mToPx(R), LOADING_Y)
-    cr.arc(mToPx(R), LOADING_Y, 5, 0, np.pi * 2.0)
-    cr.move_to(0, -1.0 * LOADING_Y)
-    cr.line_to(mToPx(0.6), -1.0 * LOADING_Y)
-    cr.move_to(mToPx(R), -1.0 * LOADING_Y)
-    cr.arc(mToPx(R), -1.0 * LOADING_Y, 5, 0, np.pi * 2.0)
-
-    # HAB Levels 2 and 3 called in variables backhab
-    WIDTH_BACKHAB = mToPx(1.2192)
-
-    Y_TOP_BACKHAB_BOX = Y_BASE + mToPx(0.6096)
-    BACKHAB_LV2_LENGTH = mToPx(1.016)
-
-    BACKHAB_LV3_LENGTH = mToPx(1.2192)
-    Y_LV3_BOX = Y_TOP_BACKHAB_BOX - BACKHAB_LV3_LENGTH
-
-    Y_BOTTOM_BACKHAB_BOX = Y_LV3_BOX - BACKHAB_LV2_LENGTH
-
-    # HAB LEVEL 1
-    X_LV1_BOX = BACKWALL_X + WIDTH_BACKHAB
-
-    WIDTH_LV1_BOX = mToPx(0.90805)
-    LENGTH_LV1_BOX = mToPx(1.6256)
-
-    Y_BOTTOM_LV1_BOX = Y_BASE - LENGTH_LV1_BOX
-
-    # Ramp off Level 1
-    X_RAMP = X_LV1_BOX
-
-    Y_TOP_RAMP = Y_BASE + LENGTH_LV1_BOX
-    WIDTH_TOP_RAMP = mToPx(1.20015)
-    LENGTH_TOP_RAMP = Y_BASE + mToPx(0.28306)
-
-    X_MIDDLE_RAMP = X_RAMP + WIDTH_LV1_BOX
-    Y_MIDDLE_RAMP = Y_BOTTOM_LV1_BOX
-    LENGTH_MIDDLE_RAMP = 2 * LENGTH_LV1_BOX
-    WIDTH_MIDDLE_RAMP = WIDTH_TOP_RAMP - WIDTH_LV1_BOX
-
-    Y_BOTTOM_RAMP = Y_BASE - LENGTH_LV1_BOX - LENGTH_TOP_RAMP
-
-    # Side Bars to Hold in balls
-    X_BARS = BACKWALL_X
-    WIDTH_BARS = WIDTH_BACKHAB
-    LENGTH_BARS = mToPx(0.574675)
-
-    Y_TOP_BAR = Y_TOP_BACKHAB_BOX + BACKHAB_LV2_LENGTH
-
-    Y_BOTTOM_BAR = Y_BOTTOM_BACKHAB_BOX - LENGTH_BARS
-
-    set_color(cr, palette["BLACK"])
-    cr.rectangle(BACKWALL_X, Y_TOP_BACKHAB_BOX, WIDTH_BACKHAB,
-                 BACKHAB_LV2_LENGTH)
-    cr.rectangle(BACKWALL_X, Y_LV3_BOX, WIDTH_BACKHAB, BACKHAB_LV3_LENGTH)
-    cr.rectangle(BACKWALL_X, Y_BOTTOM_BACKHAB_BOX, WIDTH_BACKHAB,
-                 BACKHAB_LV2_LENGTH)
-    cr.rectangle(X_LV1_BOX, Y_BASE, WIDTH_LV1_BOX, LENGTH_LV1_BOX)
-    cr.rectangle(X_LV1_BOX, Y_BOTTOM_LV1_BOX, WIDTH_LV1_BOX, LENGTH_LV1_BOX)
-    cr.rectangle(X_RAMP, Y_TOP_RAMP, WIDTH_TOP_RAMP, LENGTH_TOP_RAMP)
-    cr.rectangle(X_MIDDLE_RAMP, Y_MIDDLE_RAMP, WIDTH_MIDDLE_RAMP,
-                 LENGTH_MIDDLE_RAMP)
-    cr.rectangle(X_RAMP, Y_BOTTOM_RAMP, WIDTH_TOP_RAMP, LENGTH_TOP_RAMP)
-    cr.rectangle(X_BARS, Y_TOP_BAR, WIDTH_BARS, LENGTH_BARS)
-    cr.rectangle(X_BARS, Y_BOTTOM_BAR, WIDTH_BARS, LENGTH_BARS)
-    cr.stroke()
-
-    cr.set_line_join(cairo.LINE_JOIN_ROUND)
-
-    cr.stroke()
-
-    #draw 0, 0
-    set_color(cr, palette["BLACK"])
-    cr.move_to(0, 0)
-    cr.line_to(0, 0 + mToPx(8.2296 / 2.0))
-    cr.move_to(0, 0)
-    cr.line_to(0, 0 + mToPx(-8.2296 / 2.0))
-    cr.move_to(0, 0)
-    cr.line_to(0 + mToPx(8.2296), 0)
-
-    cr.stroke()
-
-
-def draw_rockets(cr):
-    # BASE Constants
-    X_BASE = mToPx(2.41568)
-    Y_BASE = 0
-    # Robot longitudinal radius
-    R = 0.381
-    near_side_rocket_center = [
-        X_BASE + mToPx((2.89973 + 3.15642) / 2.0), Y_BASE + mToPx(
-            (3.86305 + 3.39548) / 2.0)
-    ]
-    middle_rocket_center = [
-        X_BASE + mToPx((3.15642 + 3.6347) / 2.0), Y_BASE + mToPx(
-            (3.39548 + 3.392380) / 2.0)
-    ]
-    far_side_rocket_center = [
-        X_BASE + mToPx((3.63473 + 3.89984) / 2.0), Y_BASE + mToPx(
-            (3.39238 + 3.86305) / 2.0)
-    ]
-
-    cr.move_to(near_side_rocket_center[0], near_side_rocket_center[1])
-    cr.line_to(near_side_rocket_center[0] - 0.8 * mToPx(0.866),
-               near_side_rocket_center[1] - 0.8 * mToPx(0.5))
-    cr.move_to(near_side_rocket_center[0] - R * mToPx(0.866),
-               near_side_rocket_center[1] - R * mToPx(0.5))
-    cr.arc(near_side_rocket_center[0] - R * mToPx(0.866),
-           near_side_rocket_center[1] - R * mToPx(0.5), 5, 0, np.pi * 2.0)
-
-    cr.move_to(middle_rocket_center[0], middle_rocket_center[1])
-    cr.line_to(middle_rocket_center[0], middle_rocket_center[1] - mToPx(0.8))
-    cr.move_to(middle_rocket_center[0], middle_rocket_center[1] - mToPx(R))
-    cr.arc(middle_rocket_center[0], middle_rocket_center[1] - mToPx(R), 5, 0,
-           np.pi * 2.0)
-
-    cr.move_to(far_side_rocket_center[0], far_side_rocket_center[1])
-    cr.line_to(far_side_rocket_center[0] + 0.8 * mToPx(0.866),
-               far_side_rocket_center[1] - 0.8 * mToPx(0.5))
-    cr.move_to(far_side_rocket_center[0] + R * mToPx(0.866),
-               far_side_rocket_center[1] - R * mToPx(0.5))
-    cr.arc(far_side_rocket_center[0] + R * mToPx(0.866),
-           far_side_rocket_center[1] - R * mToPx(0.5), 5, 0, np.pi * 2.0)
-
-    #print(far_side_rocket_center)
-    near_side_rocket_center = [
-        X_BASE + mToPx((2.89973 + 3.15642) / 2.0), Y_BASE - mToPx(
-            (3.86305 + 3.39548) / 2.0)
-    ]
-    middle_rocket_center = [
-        X_BASE + mToPx((3.15642 + 3.6347) / 2.0), Y_BASE - mToPx(
-            (3.39548 + 3.392380) / 2.0)
-    ]
-    far_side_rocket_center = [
-        X_BASE + mToPx((3.63473 + 3.89984) / 2.0), Y_BASE - mToPx(
-            (3.39238 + 3.86305) / 2.0)
-    ]
-
-    cr.move_to(near_side_rocket_center[0], near_side_rocket_center[1])
-    cr.line_to(near_side_rocket_center[0] - 0.8 * mToPx(0.866),
-               near_side_rocket_center[1] + 0.8 * mToPx(0.5))
-
-    cr.move_to(middle_rocket_center[0], middle_rocket_center[1])
-    cr.line_to(middle_rocket_center[0], middle_rocket_center[1] + mToPx(0.8))
-
-    cr.move_to(far_side_rocket_center[0], far_side_rocket_center[1])
-    cr.line_to(far_side_rocket_center[0] + 0.8 * mToPx(0.866),
-               far_side_rocket_center[1] + 0.8 * mToPx(0.5))
-
-    # Leftmost Line
-    cr.move_to(X_BASE + mToPx(2.89973), Y_BASE + mToPx(3.86305))
-    cr.line_to(X_BASE + mToPx(3.15642), Y_BASE + mToPx(3.39548))
-
-    # Top Line
-    cr.move_to(X_BASE + mToPx(3.15642), Y_BASE + mToPx(3.39548))
-    cr.line_to(X_BASE + mToPx(3.63473), Y_BASE + mToPx(3.39238))
-
-    #Rightmost Line
-    cr.move_to(X_BASE + mToPx(3.63473), Y_BASE + mToPx(3.39238))
-    cr.line_to(X_BASE + mToPx(3.89984), Y_BASE + mToPx(3.86305))
-
-    #Back Line
-    cr.move_to(X_BASE + mToPx(2.89973), Y_BASE + mToPx(3.86305))
-    cr.line_to(X_BASE + mToPx(3.89984), Y_BASE + mToPx(3.86305))
-
-    # Bottom Rocket
-    # Leftmost Line
-    cr.move_to(X_BASE + mToPx(2.89973), Y_BASE - mToPx(3.86305))
-    cr.line_to(X_BASE + mToPx(3.15642), Y_BASE - mToPx(3.39548))
-
-    # Top Line
-    cr.move_to(X_BASE + mToPx(3.15642), Y_BASE - mToPx(3.39548))
-    cr.line_to(X_BASE + mToPx(3.63473), Y_BASE - mToPx(3.39238))
-
-    #Rightmost Line
-    cr.move_to(X_BASE + mToPx(3.63473), Y_BASE - mToPx(3.39238))
-    cr.line_to(X_BASE + mToPx(3.89984), Y_BASE - mToPx(3.86305))
-
-    #Back Line
-    cr.move_to(X_BASE + mToPx(2.89973), Y_BASE - mToPx(3.86305))
-    cr.line_to(X_BASE + mToPx(3.89984), Y_BASE - mToPx(3.86305))
-
-    cr.stroke()
-
-
-def draw_cargo_ship(cr):
-    # BASE Constants
-    X_BASE = 0 + mToPx(5.59435)
-    Y_BASE = 0 + 0  #mToPx(4.129151)
-    R = 0.381 - 0.1
-
-    FRONT_PEG_DELTA_Y = mToPx(0.276352)
-    cr.move_to(X_BASE, Y_BASE + FRONT_PEG_DELTA_Y)
-    cr.line_to(X_BASE - mToPx(0.8), Y_BASE + FRONT_PEG_DELTA_Y)
-
-    cr.move_to(X_BASE, Y_BASE + FRONT_PEG_DELTA_Y)
-    cr.arc(X_BASE - mToPx(R), Y_BASE + FRONT_PEG_DELTA_Y, 5, 0, np.pi * 2.0)
-
-    cr.move_to(X_BASE, Y_BASE - FRONT_PEG_DELTA_Y)
-    cr.line_to(X_BASE - mToPx(0.8), Y_BASE - FRONT_PEG_DELTA_Y)
-
-    cr.move_to(X_BASE, Y_BASE - FRONT_PEG_DELTA_Y)
-    cr.arc(X_BASE - mToPx(R), Y_BASE - FRONT_PEG_DELTA_Y, 5, 0, np.pi * 2.0)
-
-    SIDE_PEG_Y = mToPx(1.41605 / 2.0)
-    SIDE_PEG_X = X_BASE + mToPx(1.148842)
-    SIDE_PEG_DX = mToPx(0.55245)
-
-    cr.move_to(SIDE_PEG_X, SIDE_PEG_Y)
-    cr.line_to(SIDE_PEG_X, SIDE_PEG_Y + mToPx(0.8))
-    cr.move_to(SIDE_PEG_X, SIDE_PEG_Y + mToPx(R))
-    cr.arc(SIDE_PEG_X, SIDE_PEG_Y + mToPx(R), 5, 0, np.pi * 2.0)
-
-    cr.move_to(SIDE_PEG_X + SIDE_PEG_DX, SIDE_PEG_Y)
-    cr.line_to(SIDE_PEG_X + SIDE_PEG_DX, SIDE_PEG_Y + mToPx(0.8))
-    cr.move_to(SIDE_PEG_X + SIDE_PEG_DX, SIDE_PEG_Y + mToPx(R))
-    cr.arc(SIDE_PEG_X + SIDE_PEG_DX, SIDE_PEG_Y + mToPx(R), 5, 0, np.pi * 2.0)
-
-    cr.move_to(SIDE_PEG_X + 2.0 * SIDE_PEG_DX, SIDE_PEG_Y)
-    cr.line_to(SIDE_PEG_X + 2.0 * SIDE_PEG_DX, SIDE_PEG_Y + mToPx(0.8))
-    cr.move_to(SIDE_PEG_X + 2.0 * SIDE_PEG_DX, SIDE_PEG_Y + mToPx(R))
-    cr.arc(SIDE_PEG_X + 2.0 * SIDE_PEG_DX, SIDE_PEG_Y + mToPx(R), 5, 0,
-           np.pi * 2.0)
-
-    cr.move_to(SIDE_PEG_X, -1.0 * SIDE_PEG_Y)
-    cr.line_to(SIDE_PEG_X, -1.0 * SIDE_PEG_Y - mToPx(0.8))
-    cr.move_to(SIDE_PEG_X, -1.0 * SIDE_PEG_Y - mToPx(R))
-    cr.arc(SIDE_PEG_X, -1.0 * SIDE_PEG_Y - mToPx(R), 5, 0, np.pi * 2.0)
-
-    cr.move_to(SIDE_PEG_X + SIDE_PEG_DX, -1.0 * SIDE_PEG_Y)
-    cr.line_to(SIDE_PEG_X + SIDE_PEG_DX, -1.0 * SIDE_PEG_Y - mToPx(0.8))
-    cr.move_to(SIDE_PEG_X + SIDE_PEG_DX, -1.0 * SIDE_PEG_Y - mToPx(R))
-    cr.arc(SIDE_PEG_X + SIDE_PEG_DX, -1.0 * SIDE_PEG_Y - mToPx(R), 5, 0,
-           np.pi * 2.0)
-
-    cr.move_to(SIDE_PEG_X + 2.0 * SIDE_PEG_DX, -1.0 * SIDE_PEG_Y)
-    cr.line_to(SIDE_PEG_X + 2.0 * SIDE_PEG_DX, -1.0 * SIDE_PEG_Y - mToPx(0.8))
-    cr.move_to(SIDE_PEG_X + 2.0 * SIDE_PEG_DX, -1.0 * SIDE_PEG_Y - mToPx(R))
-    cr.arc(SIDE_PEG_X + 2.0 * SIDE_PEG_DX, -1.0 * SIDE_PEG_Y - mToPx(R), 5, 0,
-           np.pi * 2.0)
-
-    cr.rectangle(X_BASE, Y_BASE - mToPx(1.41605 / 2.0), mToPx(2.43205),
-                 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, Color(
diff --git a/frc971/control_loops/python/path_edit.py b/frc971/control_loops/python/path_edit.py
index d402593..3386bc6 100755
--- a/frc971/control_loops/python/path_edit.py
+++ b/frc971/control_loops/python/path_edit.py
@@ -52,8 +52,6 @@
         self.held_x = 0
         self.spline_edit = -1
 
-        self.curves = []
-
         try:
             self.field_png = cairo.ImageSurface.create_from_png(
                 "frc971/control_loops/python/field_images/" + FIELD.field_id +
@@ -185,30 +183,22 @@
 
         if self.mode == Mode.kPlacing or self.mode == Mode.kViewing:
             set_color(cr, palette["BLACK"])
-            plotPoints = self.points.getPoints()
-            if plotPoints:
-                for i, point in enumerate(plotPoints):
-                    draw_px_x(cr, mToPx(point[0]), mToPx(point[1]), 10)
-                    cr.move_to(mToPx(point[0]), mToPx(point[1]) - 15)
-                    display_text(cr, str(i), 0.5, 0.5, 2, 2)
+            for i, point in enumerate(self.points.getPoints()):
+                draw_px_x(cr, mToPx(point[0]), mToPx(point[1]), 10)
             set_color(cr, palette["WHITE"])
-
         elif self.mode == Mode.kEditing:
             set_color(cr, palette["BLACK"])
-            cr.move_to(-SCREEN_SIZE, 170)
-            display_text(cr, "EDITING", 1, 1, 1, 1)
             if self.points.getSplines():
                 self.draw_splines(cr)
                 for i, points in enumerate(self.points.getSplines()):
 
-                    p0 = np.array([mToPx(points[0][0]), mToPx(points[0][1])])
-                    p1 = np.array([mToPx(points[1][0]), mToPx(points[1][1])])
-                    p2 = np.array([mToPx(points[2][0]), mToPx(points[2][1])])
-                    p3 = np.array([mToPx(points[3][0]), mToPx(points[3][1])])
-                    p4 = np.array([mToPx(points[4][0]), mToPx(points[4][1])])
-                    p5 = np.array([mToPx(points[5][0]), mToPx(points[5][1])])
+                    points = [
+                        np.array([mToPx(x), mToPx(y)])
+                        for (x, y) in points
+                    ]
+                    draw_control_points(cr, points)
 
-                    draw_control_points(cr, [p0, p1, p2, p3, p4, p5])
+                    p0, p1, p2, p3, p4, p5 = points
                     first_tangent = p0 + 2.0 * (p1 - p0)
                     second_tangent = p5 + 2.0 * (p4 - p5)
                     cr.set_source_rgb(0, 0.5, 0)
@@ -239,7 +229,6 @@
         print("spent {:.2f} ms drawing the field widget".format(1000 * (time.perf_counter() - start_time)))
 
     def draw_splines(self, cr):
-        holder_spline = []
         for i, points in enumerate(self.points.getSplines()):
             array = np.zeros(shape=(6, 2), dtype=float)
             for j, point in enumerate(points):
@@ -253,15 +242,9 @@
                 cr.line_to(
                     mToPx(spline.Point(k)[0]), mToPx(spline.Point(k)[1]))
                 cr.stroke()
-                holding = [
-                    spline.Point(k - 0.01)[0],
-                    spline.Point(k - 0.01)[1]
-                ]
-                holder_spline.append(holding)
             if i == 0:
                 self.draw_robot_at_point(cr, 0.00, 0.01, spline)
             self.draw_robot_at_point(cr, 1, 0.01, spline)
-        self.curves.append(holder_spline)
 
     def mouse_move(self, event):
         old_x = self.mousex
@@ -274,8 +257,9 @@
 
         if self.mode == Mode.kEditing:
             self.points.updates_for_mouse_move(self.index_of_edit,
-                                               self.spline_edit, self.mousex,
-                                               self.mousey, difs)
+                                               self.spline_edit,
+                                               pxToM(self.mousex),
+                                               pxToM(self.mousey), difs)
 
     def export_json(self, file_name):
         self.path_to_export = os.path.join(
@@ -347,7 +331,8 @@
         self.mousey = event.y
 
         if self.mode == Mode.kPlacing:
-            if self.points.add_point(self.mousex, self.mousey):
+            if self.points.add_point(
+                    pxToM(self.mousex), pxToM(self.mousey)):
                 self.mode = Mode.kEditing
         elif self.mode == Mode.kEditing:
             # Now after index_of_edit is not -1, the point is selected, so
diff --git a/frc971/control_loops/python/points.py b/frc971/control_loops/python/points.py
index c22582e..d874306 100644
--- a/frc971/control_loops/python/points.py
+++ b/frc971/control_loops/python/points.py
@@ -70,7 +70,7 @@
 
     def updates_for_mouse_move(self, index_of_edit, spline_edit, x, y, difs):
         if index_of_edit > -1:
-            self.splines[spline_edit][index_of_edit] = [pxToM(x), pxToM(y)]
+            self.splines[spline_edit][index_of_edit] = [x, y]
 
             if index_of_edit == 5:
                 self.splines[spline_edit][
@@ -150,7 +150,7 @@
 
     def add_point(self, x, y):
         if (len(self.points) < 6):
-            self.points.append([pxToM(x), pxToM(y)])
+            self.points.append([x, y])
         if (len(self.points) == 6):
             self.splines.append(np.array(self.points))
             self.points = []
diff --git a/frc971/control_loops/python/spline_graph.py b/frc971/control_loops/python/spline_graph.py
index ad3ae96..1378e8f 100755
--- a/frc971/control_loops/python/spline_graph.py
+++ b/frc971/control_loops/python/spline_graph.py
@@ -12,6 +12,7 @@
 import basic_window
 import os
 
+
 class GridWindow(Gtk.Window):
     def method_connect(self, event, cb):
         def handler(obj, *args):