diff --git a/galil_stage_program/2021_07_20_high_accuracy.dmc b/galil_stage_program/2021_07_20_high_accuracy.dmc
index 71d9f44..0117af4 100644
--- a/galil_stage_program/2021_07_20_high_accuracy.dmc
+++ b/galil_stage_program/2021_07_20_high_accuracy.dmc
@@ -1,340 +1,343 @@
-#AUTO
-' General usage Instructions:
-'    1. Check your origin by cutting a cross, then adjusting
-'       the crosshair to where the cross was actually cut.
-'    2. NEW: Press and hold the "Zero Origin" button for
-'       3 seconds to update the offset variables
-'       (instead of manually updating them in the code)
-'
-' Updating the program
-'    1. "Download" the program to the controller
-'    2. Execute the program
-' 
-' Note:
-' The program assumes the stage is in camera view upon startup.
-' If the stage was unable to move before, jog it over to the
-' camera position and zero it. 
-'    
-'
-' SUPERUSER Instructions:
-'    1. Open the Terminal ("Tools" >> "Terminal")
-'    2. Send the BP Command to "Burn the program".
-'       You only need to do this once, but just in case the memory is wiped,
-'       now you know how to do it.
-'
-'
-' This is an example of a comment
-NO This is also a comment
-'
-'
-MO ;' Turn off the motors until the MT command is issued.
-MT -2.5,-2,1,1
-CE 0,2
-DP 0,0
-DE 0,0
-curx=0
-cury=0
-SH
-JG 0,0
-BG XY
-DC 2000000,2000000
-AC 2000000,2000000
-oncam=1
-SB 1 ;' "CAM VIEW" indicator light on
-CB 2 ;' "X-LIMIT" indicator light off
-CB 3 ;' "Y-LIMIT" indicator light off
-'
-' DEFINE OFFSETS - The Offset between cam view and laser positions
-deltax=872000;'872304;'873394;'869256;'870517;'871154;'872437 ;' 908400
-deltay=6900;'8601;'8336 ;' 9558
-'
-'
-#LOOP
-JG ;' Make sure we are in jog mode.
-'Old x centering value (@AN[1]-2.56)
-xangle=(@AN[1]-2.69)/2.38
-'Old y centering value (@AN[1]-2.41)
-yangle=(@AN[2]-2.29)/2.42
-'Old x centering value .05<@ABS[xangle]
-JP#XNOTLOW,.07<@ABS[xangle]
-xangle=0 
-#XNOTLOW
-JP#XNOTHI,0.9>@ABS[xangle]
-xangle=0.9*xangle/@ABS[xangle]
-#XNOTHI
-JGX=((xangle*xangle*xangle*550300)-(xangle*1326))*(1-@IN[8])
-'Old y centering value .05<@ABS[yangle]
-JP#YNOTLOW,.07<@ABS[yangle]
-yangle=0
-#YNOTLOW
-JP#YNOTHI,0.9>@ABS[yangle]
-yangle=0.9*yangle/@ABS[yangle]
-#YNOTHI
-JGY=((yangle*yangle*yangle*550300)-(yangle*1326))*(1-@IN[7])
-JP#LOOP,((@ABS[xangle]>0.1)|(@ABS[yangle]>0.1))
-JP#SETORIG,@IN[6]=0
-JP#HOME,@IN[17]=0
-'
-'
-#PADLOOP
-a3=@AN[3]
-IF (a3<0)
-  a3=0
-ENDIF
-IF (a3>5)
-  a3=5
-ENDIF
-IF (a3<0.68)
-  jogspd=10
-ENDIF
-IF ((a3>=0.68)&(a3<2.54))
-  jogspd=(48.39*a3)-22.9
-ENDIF
-IF (a3>=2.54)
-  jogspd=(26450*a3*a3*a3)-(201500*a3*a3)+(514400*a3)-439916
-ENDIF
-IF (@IN[2]=0)
-  JG 0,jogspd;JP#PADLOOP
-ENDIF
-IF (@IN[3]=0)
-  JG 0,-jogspd;JP#PADLOOP
-ENDIF
-IF (@IN[4]=0)
-  JG -jogspd,0;JP#PADLOOP
-ENDIF
-IF (@IN[5]=0)
-  JG jogspd,0;JP#PADLOOP
-ENDIF
-JP#LOOP,@IN[1]=1
-ST
-MC
-LM XY
-' If we are in the camera view, 
-IF (oncam=1) ;' If we are in camera view...
-  JS#HOMELAS
-ELSE
-  NO The sequence below is similar, but moves us from the
-  NO laser view to the camera view.  Same 3-move sequence.
-  IF (oncam=0)
-    JS#HOMECAM
-  ENDIF
-ENDIF
-JG 0,0
-BG X,Y
-JP#LOOP
-'
-'
-#HOMELAS
-VS 400000;VA 1000000;VD 1000000;
-curx=_TPA  ;' Save current position.
-cury=_TPB
-NO Move offset amount (considering your current location)
-NO and overshooting 1mm in both directions on purpose.
-LI deltax-curx-500,deltay-cury-500
-LE;BGS ;' End input of LI commands, and begin sequence.
-MC     ;' Wait until movement is complete.
-WT 200 ;' This delay (in ms) is to allow for settling.
-NO Next we measure where we are, using the encoders, and
-NO calculate the required movement to complete the shift.
-actx=_TPA
-acty=_TPB
-VS 40000;VA 200000;VD 200000 ;' Move slower
-ST;MC;LM XY
-LI (deltax-actx+200),(deltay-acty+200)
-LE;BGS;MC
-WT 50
-NO We should be right under the laser, but we will make one
-NO final correction move to make absolutely sure.
-actx=_TPA
-acty=_TPB
-ST;MC;LM XY
-LI (deltax-actx-100),(deltay-acty-100)
-LE;BGS;MC
-WT 20
-NO Again
-actx=_TPA
-acty=_TPB
-ST;MC;LM XY
-LI (deltax-actx+50),(deltay-acty+50)
-LE;BGS;MC
-WT 20
-NO Again
-actx=_TPA
-acty=_TPB
-ST;MC;LM XY
-LI (deltax-actx-20),(deltay-acty-20)
-LE;BGS;MC
-WT 20
-NO Again
-actx=_TPA
-acty=_TPB
-VS 10000;VA 200000;VD 200000 ;' Move even slower
-ST;MC;LM XY
-LI (deltax-actx),(deltay-acty)
-LE;BGS;MC
-WT 20
-oncam=0 ;' Mark that we are not under the camera
-CB 1    ;' Turn off the "CAM VIEW" light.
-EN
-'
-'
-#HOMECAM
-VS 400000;VA 1000000;VD 1000000;
-curx=_TPA
-cury=_TPB
-LI -curx-500,-cury-500
-LE;BGS
-MC
-WT 200
-actx=_TPA
-acty=_TPB
-VS 40000;VA 200000;VD 200000 ;' Move slower
-ST;MC;LM XY
-LI -actx+200,-acty+200
-LE;BGS;MC
-WT 50
-NO We should be right under the camera, but we will make one
-NO final correction move to make absolutely sure.
-actx=_TPA
-acty=_TPB
-ST;MC;LM XY
-LI -actx-100,-acty-100
-LE;BGS;MC
-WT 20
-NO We should be right under the camera, but we will make one
-NO final correction move to make absolutely sure.
-actx=_TPA
-acty=_TPB
-ST;MC;LM XY
-LI -actx+50,-acty+50
-LE;BGS;MC
-WT 20
-NO We should be right under the camera, but we will make one
-NO final correction move to make absolutely sure.
-actx=_TPA
-acty=_TPB
-ST;MC;LM XY
-LI -actx-20,-acty-20
-LE;BGS;MC
-WT 20
-NO Again
-actx=_TPA
-acty=_TPB
-VS 10000;VA 200000;VD 200000 ;' Move even slower
-ST;MC;LM XY
-LI -actx,-acty
-LE;BGS;MC
-WT 20
-oncam=1 ;' Mark that we are under the camera
-SB 1    ;' Turn on the "CAM VIEW" light
-EN
-'
-'
-#HOME
-ST
-MC
-LM XY
-' If we are in the camera view, move to (0,0)
-IF (oncam=1)
-  JS#HOMECAM
-' Otherwise, if we are in the laser view, move to (deltax, deltay)
-ELSE
-  JS#HOMELAS
-ENDIF
-JG 0,0
-BG X,Y
-JP#LOOP
-'
-'
-#SETORIG
-btntime=TIME
-ST
-MC
-#WAIT
-JP#WAIT,@IN[6]=0
-currtime=TIME
-difftime=currtime-btntime
-IF (difftime>=2000)
-  JS#SETDEL
-ENDIF
-DP 0,0
-DE 0,0
-IF (oncam=1)
-  DP 0,0
-  DE 0,0
-ELSE
-  DP deltax,deltay
-  DE deltax,deltay
-ENDIF
-bit2=@OUT[2]
-bit3=@OUT[3]
-CB 2;CB 3
-loopnum=0
-'
-'
-#FLASH
-SB 2;SB 3
-WT 50
-CB 2;CB 3
-WT 30
-loopnum=loopnum+1
-JP#FLASH,loopnum<3
-IF bit2=1;SB 2;ENDIF
-IF bit3=1;SB 3;ENDIF
-'
-'
-JG 0,0
-BG X,Y
-JP#LOOP
-EN
-'
-'
-#SETDEL
-curx=_TPA  ;' Save current position.
-cury=_TPB
-MG ""
-IF (oncam=1) ;' If we are in camera view...
-  deltax = deltax-curx
-  deltay = deltay-cury
-  MG "Delta Offsets Updated:"
-  MG deltax
-  MG deltay
-ELSE
-  MG "Move to 'Camera View' to update delta Offsets"
-ENDIF
-EN
-'
-'
-'
-#LIMSWI
-DC 10000000,10000000
-ST
-MC
-DC 2000000,2000000
-SP 200000,200000
-IF (_LFX=0)
-  NOIMG "+X limit hit!"
-  SB 2
-  PR -50000,0;BGX;MC
-ENDIF
-IF (_LRX=0)
-  NOMG "-X limit hit!"
-  SB 2
-  PR 50000,0;BGX;MC
-ENDIF
-IF (_LFY=0)
-  NOMG "+Y limit hit!"
-  SB 3
-  PR 0,-50000;BGY;MC
-ENDIF
-IF (_LRY=0)
-  NOMG "-Y limit hit!"
-  SB 3
-  PR 0,50000;BGY;MC
-ENDIF
-WT 500
-CB 2
-CB 3
-JG 0,0
-BG XY
+#AUTO
+' GitHub Link:
+' https://github.com/harvard-microrobotics/dpss
+'
+' General usage Instructions:
+'    1. Check your origin by cutting a cross, then adjusting
+'       the crosshair to where the cross was actually cut.
+'    2. NEW: Press and hold the "Zero Origin" button for
+'       3 seconds to update the offset variables
+'       (instead of manually updating them in the code)
+'
+' Updating the program
+'    1. "Download" the program to the controller
+'    2. Execute the program
+' 
+' Note:
+' The program assumes the stage is in camera view upon startup.
+' If the stage was unable to move before, jog it over to the
+' camera position and zero it. 
+'    
+'
+' SUPERUSER Instructions:
+'    1. Open the Terminal ("Tools" >> "Terminal")
+'    2. Send the BP Command to "Burn the program".
+'       You only need to do this once, but just in case the memory is wiped,
+'       now you know how to do it.
+'
+'
+' This is an example of a comment
+NO This is also a comment
+'
+'
+MO ;' Turn off the motors until the MT command is issued.
+MT -2.5,-2,1,1
+CE 0,2
+DP 0,0
+DE 0,0
+curx=0
+cury=0
+SH
+JG 0,0
+BG XY
+DC 2000000,2000000
+AC 2000000,2000000
+oncam=1
+SB 1 ;' "CAM VIEW" indicator light on
+CB 2 ;' "X-LIMIT" indicator light off
+CB 3 ;' "Y-LIMIT" indicator light off
+'
+' DEFINE OFFSETS - The Offset between cam view and laser positions
+deltax=872016;'872304;'873394;'869256;'870517;'871154;'872437 ;' 908400
+deltay=7018;'8601;'8336 ;' 9558
+'
+'
+#LOOP
+JG ;' Make sure we are in jog mode.
+'Old x centering value (@AN[1]-2.56)
+xangle=(@AN[1]-2.69)/2.38
+'Old y centering value (@AN[1]-2.41)
+yangle=(@AN[2]-2.29)/2.42
+'Old x centering value .05<@ABS[xangle]
+JP#XNOTLOW,.07<@ABS[xangle]
+xangle=0 
+#XNOTLOW
+JP#XNOTHI,0.9>@ABS[xangle]
+xangle=0.9*xangle/@ABS[xangle]
+#XNOTHI
+JGX=((xangle*xangle*xangle*550300)-(xangle*1326))*(1-@IN[8])
+'Old y centering value .05<@ABS[yangle]
+JP#YNOTLOW,.07<@ABS[yangle]
+yangle=0
+#YNOTLOW
+JP#YNOTHI,0.9>@ABS[yangle]
+yangle=0.9*yangle/@ABS[yangle]
+#YNOTHI
+JGY=((yangle*yangle*yangle*550300)-(yangle*1326))*(1-@IN[7])
+JP#LOOP,((@ABS[xangle]>0.1)|(@ABS[yangle]>0.1))
+JP#SETORIG,@IN[6]=0
+JP#HOME,@IN[17]=0
+'
+'
+#PADLOOP
+a3=@AN[3]
+IF (a3<0)
+  a3=0
+ENDIF
+IF (a3>5)
+  a3=5
+ENDIF
+IF (a3<0.68)
+  jogspd=10
+ENDIF
+IF ((a3>=0.68)&(a3<2.54))
+  jogspd=(48.39*a3)-22.9
+ENDIF
+IF (a3>=2.54)
+  jogspd=(26450*a3*a3*a3)-(201500*a3*a3)+(514400*a3)-439916
+ENDIF
+IF (@IN[2]=0)
+  JG 0,jogspd;JP#PADLOOP
+ENDIF
+IF (@IN[3]=0)
+  JG 0,-jogspd;JP#PADLOOP
+ENDIF
+IF (@IN[4]=0)
+  JG -jogspd,0;JP#PADLOOP
+ENDIF
+IF (@IN[5]=0)
+  JG jogspd,0;JP#PADLOOP
+ENDIF
+JP#LOOP,@IN[1]=1
+ST
+MC
+LM XY
+' If we are in the camera view, 
+IF (oncam=1) ;' If we are in camera view...
+  JS#HOMELAS
+ELSE
+  NO The sequence below is similar, but moves us from the
+  NO laser view to the camera view.  Same 3-move sequence.
+  IF (oncam=0)
+    JS#HOMECAM
+  ENDIF
+ENDIF
+JG 0,0
+BG X,Y
+JP#LOOP
+'
+'
+#HOMELAS
+VS 400000;VA 1000000;VD 1000000;
+curx=_TPA  ;' Save current position.
+cury=_TPB
+NO Move offset amount (considering your current location)
+NO and overshooting 1mm in both directions on purpose.
+LI deltax-curx-500,deltay-cury-500
+LE;BGS ;' End input of LI commands, and begin sequence.
+MC     ;' Wait until movement is complete.
+WT 200 ;' This delay (in ms) is to allow for settling.
+NO Next we measure where we are, using the encoders, and
+NO calculate the required movement to complete the shift.
+actx=_TPA
+acty=_TPB
+VS 40000;VA 200000;VD 200000 ;' Move slower
+ST;MC;LM XY
+LI (deltax-actx+200),(deltay-acty+200)
+LE;BGS;MC
+WT 50
+NO We should be right under the laser, but we will make one
+NO final correction move to make absolutely sure.
+actx=_TPA
+acty=_TPB
+ST;MC;LM XY
+LI (deltax-actx-100),(deltay-acty-100)
+LE;BGS;MC
+WT 20
+NO Again
+actx=_TPA
+acty=_TPB
+ST;MC;LM XY
+LI (deltax-actx+50),(deltay-acty+50)
+LE;BGS;MC
+WT 20
+NO Again
+actx=_TPA
+acty=_TPB
+ST;MC;LM XY
+LI (deltax-actx-20),(deltay-acty-20)
+LE;BGS;MC
+WT 20
+NO Again
+actx=_TPA
+acty=_TPB
+VS 10000;VA 200000;VD 200000 ;' Move even slower
+ST;MC;LM XY
+LI (deltax-actx),(deltay-acty)
+LE;BGS;MC
+WT 20
+oncam=0 ;' Mark that we are not under the camera
+CB 1    ;' Turn off the "CAM VIEW" light.
+EN
+'
+'
+#HOMECAM
+VS 400000;VA 1000000;VD 1000000;
+curx=_TPA
+cury=_TPB
+LI -curx-500,-cury-500
+LE;BGS
+MC
+WT 200
+actx=_TPA
+acty=_TPB
+VS 40000;VA 200000;VD 200000 ;' Move slower
+ST;MC;LM XY
+LI -actx+200,-acty+200
+LE;BGS;MC
+WT 50
+NO We should be right under the camera, but we will make one
+NO final correction move to make absolutely sure.
+actx=_TPA
+acty=_TPB
+ST;MC;LM XY
+LI -actx-100,-acty-100
+LE;BGS;MC
+WT 20
+NO We should be right under the camera, but we will make one
+NO final correction move to make absolutely sure.
+actx=_TPA
+acty=_TPB
+ST;MC;LM XY
+LI -actx+50,-acty+50
+LE;BGS;MC
+WT 20
+NO We should be right under the camera, but we will make one
+NO final correction move to make absolutely sure.
+actx=_TPA
+acty=_TPB
+ST;MC;LM XY
+LI -actx-20,-acty-20
+LE;BGS;MC
+WT 20
+NO Again
+actx=_TPA
+acty=_TPB
+VS 10000;VA 200000;VD 200000 ;' Move even slower
+ST;MC;LM XY
+LI -actx,-acty
+LE;BGS;MC
+WT 20
+oncam=1 ;' Mark that we are under the camera
+SB 1    ;' Turn on the "CAM VIEW" light
+EN
+'
+'
+#HOME
+ST
+MC
+LM XY
+' If we are in the camera view, move to (0,0)
+IF (oncam=1)
+  JS#HOMECAM
+' Otherwise, if we are in the laser view, move to (deltax, deltay)
+ELSE
+  JS#HOMELAS
+ENDIF
+JG 0,0
+BG X,Y
+JP#LOOP
+'
+'
+#SETORIG
+btntime=TIME
+ST
+MC
+#WAIT
+JP#WAIT,@IN[6]=0
+currtime=TIME
+difftime=currtime-btntime
+IF (difftime>=2000)
+  JS#SETDEL
+ENDIF
+DP 0,0
+DE 0,0
+IF (oncam=1)
+  DP 0,0
+  DE 0,0
+ELSE
+  DP deltax,deltay
+  DE deltax,deltay
+ENDIF
+bit2=@OUT[2]
+bit3=@OUT[3]
+CB 2;CB 3
+loopnum=0
+'
+'
+#FLASH
+SB 2;SB 3
+WT 50
+CB 2;CB 3
+WT 30
+loopnum=loopnum+1
+JP#FLASH,loopnum<3
+IF bit2=1;SB 2;ENDIF
+IF bit3=1;SB 3;ENDIF
+'
+'
+JG 0,0
+BG X,Y
+JP#LOOP
+EN
+'
+'
+#SETDEL
+curx=_TPA  ;' Save current position.
+cury=_TPB
+MG ""
+IF (oncam=1) ;' If we are in camera view...
+  deltax = deltax-curx
+  deltay = deltay-cury
+  MG "Delta Offsets Updated:"
+  MG deltax
+  MG deltay
+ELSE
+  MG "Move to 'Camera View' to update delta Offsets"
+ENDIF
+EN
+'
+'
+'
+#LIMSWI
+DC 10000000,10000000
+ST
+MC
+DC 2000000,2000000
+SP 200000,200000
+IF (_LFX=0)
+  NOIMG "+X limit hit!"
+  SB 2
+  PR -50000,0;BGX;MC
+ENDIF
+IF (_LRX=0)
+  NOMG "-X limit hit!"
+  SB 2
+  PR 50000,0;BGX;MC
+ENDIF
+IF (_LFY=0)
+  NOMG "+Y limit hit!"
+  SB 3
+  PR 0,-50000;BGY;MC
+ENDIF
+IF (_LRY=0)
+  NOMG "-Y limit hit!"
+  SB 3
+  PR 0,50000;BGY;MC
+ENDIF
+WT 500
+CB 2
+CB 3
+JG 0,0
+BG XY
 RE
\ No newline at end of file