diff --git a/software/firmware/cam.py b/software/firmware/cam.py
index cf824e7..e557d00 100644
--- a/software/firmware/cam.py
+++ b/software/firmware/cam.py
@@ -9,21 +9,14 @@
   
     contours, hierarchy = cv2.findContours(thresh1,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
     drawing = np.zeros(img.shape,np.uint8)
-
-    max_area=0
-   
-    for i in range(len(contours)):
-            cnt=contours[i]
-            area = cv2.contourArea(cnt)
-            if(area>max_area):
-                max_area=area
-                ci=i
-    cnt=contours[ci]
+    
+    cnt = max(contours, key = cv2.contourArea)
     hull = cv2.convexHull(cnt)
     moments = cv2.moments(cnt)
+    
     if moments['m00']!=0:
-                cx = int(moments['m10']/moments['m00']) # cx = M10/M00
-                cy = int(moments['m01']/moments['m00']) # cy = M01/M00
+        cx = int(moments['m10']/moments['m00']) # cx = M10/M00
+        cy = int(moments['m01']/moments['m00']) # cy = M01/M00
               
     centr=(cx,cy)       
     cv2.circle(img,centr,5,[0,0,255],2)       
@@ -33,21 +26,19 @@
     cnt = cv2.approxPolyDP(cnt,0.01*cv2.arcLength(cnt,True),True)
     hull = cv2.convexHull(cnt,returnPoints = False)
     
-    if(1):
-               defects = cv2.convexityDefects(cnt,hull)
-               mind=0
-               maxd=0
-               for i in range(defects.shape[0]):
-                    s,e,f,d = defects[i,0]
-                    start = tuple(cnt[s][0])
-                    end = tuple(cnt[e][0])
-                    far = tuple(cnt[f][0])
-                    dist = cv2.pointPolygonTest(cnt,centr,True)
-                    cv2.line(img,start,end,[0,255,0],2)
-                    
-                    cv2.circle(img,far,5,[0,0,255],-1)
-               print(i)
-               i=0
+    defects = cv2.convexityDefects(cnt,hull)
+
+    for i in range(defects.shape[0]):
+        s,e,f,d = defects[i,0]
+        start = tuple(cnt[s][0])
+        end = tuple(cnt[e][0])
+        far = tuple(cnt[f][0])
+        dist = cv2.pointPolygonTest(cnt,centr,True)
+        cv2.line(img,start,end,[0,255,0],2)
+        cv2.circle(img,far,5,[0,0,255],-1)
+    
+    print(i)
+
     cv2.imshow('output',drawing)
     cv2.imshow('input',img)