diff --git a/scripts/ball_approach.py b/scripts/ball_approach.py
index f7d6846..c69e31b 100644
--- a/scripts/ball_approach.py
+++ b/scripts/ball_approach.py
@@ -22,6 +22,7 @@ class BallFollower(object):
         self.counter = 0
 
     def update(self):
+        print('in update loop')
         try:
             (x, y), radius = self.finder.find_colored_ball(
                 self.video_top.get_frame()
diff --git a/scripts/finders.py b/scripts/finders.py
index 7dc08dd..476c391 100644
--- a/scripts/finders.py
+++ b/scripts/finders.py
@@ -45,12 +45,13 @@ class BallFinder(object):
         ((x, y), radius) = cv2.minEnclosingCircle(c)
 
         if radius < self.min_radius:
+            print('Nothin there')
             self.history.appendleft(None)
             return None
 
         M = cv2.moments(c)
         center = (int(M["m10"] / M["m00"]),int(M["m01"] // M["m00"]))
-        self.history.appendleft(center, int(radius))
+        self.history.appendleft((center, int(radius)))
         return center, int(radius)
 
     def visualize(self, frame):
diff --git a/scripts/movements.py b/scripts/movements.py
index 466a70f..c498e2c 100644
--- a/scripts/movements.py
+++ b/scripts/movements.py
@@ -8,8 +8,8 @@ class NaoMover(object):
         self.mp = ALProxy('ALMotion', nao_ip, nao_port)
         self.pp = ALProxy('ALRobotPosture', nao_ip, nao_port)
         ap = ALProxy("ALAutonomousLife", nao_ip, nao_port)
-        if ap.getState()!="disabled":
-        	ap.setState('disabled')
+        if ap.getState() != "disabled":
+            ap.setState('disabled')
         self.set_head_stiffness()
         self.set_hand_stiffness()
         self.set_arm_stiffness()
@@ -67,14 +67,14 @@ class NaoMover(object):
         self.mp.setStiffnesses("RKneePitch", stiffness)
 
     def get_head_angles(self):
-        return self.mp.getAngles(('HeadYaw', 'HeadPitch'), useSensors=False)
+        return self.mp.getAngles(('HeadYaw', 'HeadPitch'), False)
 
     def change_head_angles(self, d_yaw, d_pitch, speed):
         self.mp.changeAngles(('HeadYaw', 'HeadPitch'),
                              (d_yaw, d_pitch), speed)
 
     def set_head_angles(self, yaw, pitch, speed):
-        self.mp.setHeadAngles(('HeadYaw', 'HeadPitch'),
+        self.mp.setAngles(('HeadYaw', 'HeadPitch'),
                               (yaw, pitch), speed)
 
     def move_to(self, front, side, rotation, wait=False):