diff --git a/src/camera/camera_constants.h b/src/camera/camera_constants.h
index 6314d3c..00b3ea2 100644
--- a/src/camera/camera_constants.h
+++ b/src/camera/camera_constants.h
@@ -116,7 +116,7 @@ inline const camera_constant_t camera_constants[CAMERA_LENGTH] = {
             .extrinsics_path = "/bos/constants/turret_bot/front_right_extrinsics.json", 
             .name = "turret_bot_front_right",
             .backlight = 0.0,
-            .exposure = 4000.0},
+            .exposure = 1000.0},
     [Camera::TURRET_BOT_FRONT_LEFT] =
         camera_constant_t{
             .pipeline = "/dev/v4l/by-path/"
@@ -125,7 +125,7 @@ inline const camera_constant_t camera_constants[CAMERA_LENGTH] = {
             .extrinsics_path = "/bos/constants/turret_bot/front_left_extrinsics.json", 
             .name = "turret_bot_front_left",
             .backlight = 0.0,
-            .exposure = 1000.0},
+            .exposure = 500.0},
     [Camera::TURRET_BOT_BACK_RIGHT] =
         camera_constant_t{
             .pipeline =
diff --git a/src/camera/cv_camera.cc b/src/camera/cv_camera.cc
index 4406b76..6dd83af 100644
--- a/src/camera/cv_camera.cc
+++ b/src/camera/cv_camera.cc
@@ -11,17 +11,21 @@ CVCamera::CVCamera(const CameraConstant& c)
     }
   };
 
-  set_if(cv::CAP_PROP_BACKLIGHT, c.backlight);
-  set_if(cv::CAP_PROP_FRAME_WIDTH, c.frame_width);
-  set_if(cv::CAP_PROP_FRAME_HEIGHT, c.frame_height);
-  set_if(cv::CAP_PROP_FPS, c.fps);
-  set_if(cv::CAP_PROP_BRIGHTNESS, c.brightness);
-  set_if(cv::CAP_PROP_SHARPNESS, c.sharpness);
-
-  if (c.exposure) {
-    cap_.set(cv::CAP_PROP_AUTO_EXPOSURE, 1);  // V4L2: 1 = manual
-    cap_.set(cv::CAP_PROP_EXPOSURE, static_cast<double>(*c.exposure));
-  }
+  cap_.set(cv::CAP_PROP_AUTO_EXPOSURE, 1);  // V4L2: 1 = manual
+  cap_.set(cv::CAP_PROP_EXPOSURE, 25);
+  cap_.set(cv::CAP_PROP_BRIGHTNESS, 0);
+
+  // set_if(cv::CAP_PROP_BACKLIGHT, c.backlight);
+  // set_if(cv::CAP_PROP_FRAME_WIDTH, c.frame_width);
+  // set_if(cv::CAP_PROP_FRAME_HEIGHT, c.frame_height);
+  // set_if(cv::CAP_PROP_FPS, c.fps);
+  // set_if(cv::CAP_PROP_BRIGHTNESS, c.brightness);
+  // set_if(cv::CAP_PROP_SHARPNESS, c.sharpness);
+  //
+  // if (c.exposure) {
+  //   cap_.set(cv::CAP_PROP_AUTO_EXPOSURE, 1);  // V4L2: 1 = manual
+  //   cap_.set(cv::CAP_PROP_EXPOSURE, static_cast<double>(*c.exposure));
+  // }
 }
 
 CVCamera::CVCamera(const std::string& pipeline)
diff --git a/src/turret_bot_main.cc b/src/turret_bot_main.cc
index 6331aac..75b48cf 100644
--- a/src/turret_bot_main.cc
+++ b/src/turret_bot_main.cc
@@ -30,19 +30,19 @@ auto main() -> int {
   //     std::make_unique<camera::CVCamera>(
   //         camera::camera_constants[camera::Camera::IMX296_1])));
 
-  std::thread front_right_thread(
-      localization::run_localization, std::ref(front_right_camera),
-      std::make_unique<localization::GPUAprilTagDetector>(
-          front_right_camera.GetFrame().cols,
-          front_right_camera.GetFrame().rows,
-          utils::read_intrinsics(
-              camera::camera_constants[camera::Camera::TURRET_BOT_FRONT_RIGHT]
-                  .intrinsics_path)),
-      std::make_unique<localization::SquareSolver>(
-          camera::Camera::TURRET_BOT_FRONT_RIGHT),
-      camera::camera_constants[camera::Camera::TURRET_BOT_FRONT_RIGHT]
-          .extrinsics_path,
-      4971, false);
+  // std::thread front_right_thread(
+  //     localization::run_localization, std::ref(front_right_camera),
+  //     std::make_unique<localization::GPUAprilTagDetector>(
+  //         front_right_camera.GetFrame().cols,
+  //         front_right_camera.GetFrame().rows,
+  //         utils::read_intrinsics(
+  //             camera::camera_constants[camera::Camera::TURRET_BOT_FRONT_RIGHT]
+  //                 .intrinsics_path)),
+  //     std::make_unique<localization::SquareSolver>(
+  //         camera::Camera::TURRET_BOT_FRONT_RIGHT),
+  //     camera::camera_constants[camera::Camera::TURRET_BOT_FRONT_RIGHT]
+  //         .extrinsics_path,
+  //     4971, false);
 
   std::thread front_left_thread(
       localization::run_localization, std::ref(front_left_camera),