diff --git a/find_aruco.py b/find_aruco.py
index 2d36f8a..3836e4c 100644
--- a/find_aruco.py
+++ b/find_aruco.py
@@ -1,20 +1,29 @@
 import cv2
 import robot
 
-def main():
-    arlo = robot.Robot()
+def find_aruco(arlo):
     image = arlo.take_photo()
 
     aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250)
     aruco_params = cv2.aruco.DetectorParameters_create()
-    detected = cv2.aruco.detectMarkers(
+    corners, ids = cv2.aruco.detectMarkers(
         image,
         aruco_dict,
         parameters=aruco_params
     )
     print("Corners: ", detected[0])
     print("Ids: ", detected[1])
-    print("Rejected: ", detected[0])
+    print("Rejected: ", detected[2])
+
+    for bounding, n in zip(corners, ids):
+        cv2.line(image, bounding[0], bounding[1], (0,255,0))
+
+    return image
+
+def main():
+    arlo = robot.Robot()
+    image = find_aruco(arlo)
+    cv2.imwrite("test.png", image)
 
 if __name__ == "__main__":
     main()