diff --git a/ros2/Webcam/camera_feed.py b/ros2/Webcam/camera_feed.py
index 19ff4a21e..cb7174ab8 100644
--- a/ros2/Webcam/camera_feed.py
+++ b/ros2/Webcam/camera_feed.py
@@ -1,48 +1,70 @@
 import numpy as np
 import cv2 as cv
 
-AREA_THRESH = 150
-cap = cv.VideoCapture("/dev/video0") # check this
-ret = True
-
 def getLargestLine(frame: np.ndarray):
-        edge_image = cv.Canny(img,250,150)
-        lines = cv.HoughLinesP(edge_image, 1, np.pi/180, 100, minLineLength=30, maxLineGap=250)
-        maxlen = 0
-        maxlendata = [0,0,0,0]
-        for l in lines[:]:
-             cur = l[0]
-             len2 = (cur[2] - cur[0])^2 + (cur[3] - cur[1])^2
-             if len2 > maxlen:
-                  maxlen = len2
-                  maxlendata = cur
-        return maxlendata
+    #https://docs.opencv.org/3.4/d9/db0/tutorial_hough_lines.html 
+    edge_image = cv.Canny(frame, 250, 150)
+    lines = cv.HoughLinesP(
+        edge_image, 1, np.pi / 180, 100, minLineLength=30, maxLineGap=250)
+    maxlen = 0
+    #Guarantees that even if theres no line, we're setting it to the maximum potential value,
+    ##so there's no functional error
+    maxlendata = [frame.shape, 0, 0, 0]
+    #Iterate over all found lines
+    for l in lines[:]:
+        cur = l[0]
+        #Don't need to take the root of this: quantized means all values are positive
+        #Len2 as it's len squared
+        if len2 := (cur[2] - cur[0])**2 + (cur[3] - cur[1])**2 > maxlen:
+            #Walrus because why not
+            maxlen = len2
+            maxlendata = cur
+    return maxlendata
 
 
-#TODO: ROSSIFY THIS 
-while(ret): 
+cap = cv.VideoCapture("/dev/video0")  # check this
+ret = True
+
+# TODO: ROSSIFY THIS
+# TODO: Parametrize with sliders
+while ret:
     # Capture frame-by-frame
     ret, m_frame = cap.read()
-    width = m_frame.shape[1]//2
-    frames = [(m_frame[:,:width], m_frame[:,width:])]
+    width = m_frame.shape[1] // 2
+    # Splitting images here as we only have one source: In other case, this code would be same for both cameras
+    # and a rosnode would compare outputs
+    frames = [(m_frame[:, :width], m_frame[:, width:])]
+    # Need this to persist
     errors = []
     for frame in frames:
-        # Convert to hsv, perform processing on HSV
-        hsv = cv.cvtColor(frame,cv.COLOR_BGR2HSV_FULL)
-        gray = cv.GaussianBlur(hsv[:,:,2],(9,9),0)
-        threshed = cv.threshold(gray,200,255,cv.THRESH_BINARY_INV)[1]
-        #Splitting images here as we only have one source: In other case, this code would be same for both cameras
-        # and a rosnode would compare outputs
-        width = ret.shape[1]//2
+        # Convert to hsv, perform basic image processing on HSV ALONE
+        hsv = cv.cvtColor(frame, cv.COLOR_BGR2HSV_FULL)
+        gray = cv.GaussianBlur(hsv[:, :, 2], (9, 9), 0)
+        threshed = cv.threshold(gray, 200, 255, cv.THRESH_BINARY_INV)[1]
+
+        # Get the largest lane line, on processed image, this is what will be used
         line = getLargestLine(threshed)
-        cv.line(frame, (line[0],line[1]),(line[2],line[3]),(0,0,255), 1, cv.LINE_AA)
-        errors.append(abs(line[0] - line[2])/2)
+
+        # Draw the line
+        cv.line(
+            frame,
+            (line[0], line[1]),
+            (line[2], line[3]),
+            (0, 0, 255),
+            1,
+            cv.LINE_AA,
+        )
+        # Writing the "error": In essence, our distance to the line .
+        # This uses the average x coordinate as a reference to where the line "sits", and should not be swayed by warping.
+        errors.append(abs(line[0] - line[2]) / 2)
         cv.imshow("Source with lines", frame)
+    # This should be input to controller
+
     net_error = errors[1] - errors[2]
     print(net_error)
-    if cv.waitKey(1) & 0xFF == ord('q'):
+    # Necessary for cv to work, otherwise it gets scared (?) Don't ask it just doesn't work if this isn't here
+    if cv.waitKey(1) != -1:
         break
     # When everything done, release the capture
     cap.release()
     cv.destroyAllWindows()
-