diff --git a/documentation/mask.md b/documentation/mask.md
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+# Editing Masks
+`masktest.py` is used to set mask values which are stored in `colors.txt`. Put the image you want to calibrate to in the `images` folder. Then run `python3 masktest.py filename.png`. Press `esc` to exit the program.
+### Adjusting Mask Values
+The sliders adjust the range of colors in the mask using HLS color space. To load a color from the calibration image, double click a specific point of the calibration image. This will set the mask values to the color selected.
+### Saving a Mask
+To save a mask, type `s`, then type the name of the color in the command line and hit enter.
+### Loading a Mask
+To load a mask, type `l` , then type the name of the color in the command line and hit enter.
+
+# Using Masks
+Use `from mask import colors` in your python file to use masks. To get a mask for an image use `colors.get_mask('color', image)` where `'color'` is a string of the color you are masking for and `image` is the cv2 image in RGB color space.
+If your python file is located at `vision/folder/file.py` you must run it from the `vision` folder using `python3 -m folder.file`.
diff --git a/vision/mask/__init__.py b/vision/mask/__init__.py
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index 0000000..e69de29
diff --git a/vision/mask/colors.py b/vision/mask/colors.py
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+++ b/vision/mask/colors.py
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+import numpy as np
+import json
+from enum import Enum
+import cv2
+import pkgutil
+
+def get_data():
+    data = pkgutil.get_data(__name__, "colors.txt")
+    json_data = json.loads(data.decode())
+    return json_data
+
+
+def set_color(color, lower, upper):
+    with open('colors.txt', 'r') as file:
+        colors = json.load(file)
+    colors[color] = [lower, upper]
+    with open('colors.txt', 'w') as outfile:
+        json.dump(colors, outfile)
+
+def get_mask(color, image):
+    hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HLS)
+    colors = get_data()
+    lower, upper = colors[color]
+    return cv2.inRange(hsv, np.array(lower), np.array(upper))
+
+def get_values(color):
+    colors = get_data()
+    return colors[color]
+
+def grid_lines(image):
+    red = get_mask('red', image)
+    blue = get_mask('blue', image)
+    mask = cv2.bitwise_not(cv2.bitwise_or(red, blue))
+    kernel = np.ones((15, 15), np.uint8)
+    eroded = cv2.erode(mask, kernel)
+
+    grey = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
+    thresh = cv2.adaptiveThreshold(grey, 255, cv2.ADAPTIVE_THRESH_GAUSSIAN_C, cv2.THRESH_BINARY_INV, 7, 6)
+
+    threshAndMask = cv2.bitwise_and(thresh, eroded)
+
+    return threshAndMask
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diff --git a/vision/mask/colors.txt b/vision/mask/colors.txt
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+++ b/vision/mask/colors.txt
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+{"blue": [[86, 33, 184], [126, 255, 255]], "red": [[149, 11, 55], [180, 184, 255]], "black": [[29, 0, 0], [62, 255, 255]], "a": [[0, 0, 0], [180, 255, 255]], "purple": [[153, 59, 38], [180, 255, 176]], "yellow": [[0, 74, 110], [39, 208, 255]], "\u001b\u001becloikqwertyuiopasdfghjklzxcvbnm,./1234567890098765456": [[0, 74, 110], [39, 208, 255]]}
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diff --git a/vision/mask/images/transect.png b/vision/mask/images/transect.png
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index 0000000..dce3cee
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diff --git a/vision/mask/masktest.py b/vision/mask/masktest.py
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+++ b/vision/mask/masktest.py
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+import cv2
+import numpy as np
+import imutils
+import colors
+import argparse
+
+SIZE = 650
+
+def nothing(x):
+    pass
+
+THRESH = 20
+def loadPixel(event, x, y, flags, param):
+    if event == cv2.EVENT_LBUTTONDBLCLK:
+        x = int((float(width) / SIZE) * x)
+        y = int((float(width) / SIZE) * y)
+        h, s, v = hsv[y][x]
+
+        cv2.setTrackbarPos('H1', 'image', h - THRESH)
+        cv2.setTrackbarPos('S1', 'image', s - THRESH)
+        cv2.setTrackbarPos('V1', 'image', v - THRESH)
+        cv2.setTrackbarPos('H2', 'image', h + THRESH)
+        cv2.setTrackbarPos('S2', 'image', s + THRESH)
+        cv2.setTrackbarPos('V2', 'image', v + THRESH)
+
+parser = argparse.ArgumentParser()
+parser.add_argument('file_name', type=str)
+args = parser.parse_args()
+
+image = cv2.imread('images/' + args.file_name)
+hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HLS)
+height, width, channels = image.shape
+
+cv2.namedWindow('image')
+cv2.namedWindow('original')
+resized = imutils.resize(image, width=SIZE)
+cv2.imshow('original', resized)
+cv2.setMouseCallback('original', loadPixel)
+cv2.createButton('test', loadPixel)
+
+# create trackbars for color change
+cv2.createTrackbar('H1','image',0,180,nothing)
+cv2.createTrackbar('H2','image',0,180,nothing)
+cv2.createTrackbar('S1','image',0,255,nothing)
+cv2.createTrackbar('S2','image',0,255,nothing)
+cv2.createTrackbar('V1','image',0,255,nothing)
+cv2.createTrackbar('V2','image',0,255,nothing)
+
+cv2.setTrackbarPos('H2', 'image', 180)
+cv2.setTrackbarPos('S2', 'image', 255)
+cv2.setTrackbarPos('V2', 'image', 255)
+
+
+
+while(1):
+    k = cv2.waitKey(1) & 0xFF
+    if k == 27:
+        break
+    elif k == 115:
+        color = input("Set color: ")
+        colors.set_color(color, [h1, s1, v1], [h2, s2, v2])
+    elif k == 108:
+        color = input("Load color: ")
+        lower, upper = colors.get_values(color)
+        h1, s1, v1 = lower
+        h2, s2, v2 = upper
+        cv2.setTrackbarPos('H1', 'image', h1)
+        cv2.setTrackbarPos('L1', 'image', s1)
+        cv2.setTrackbarPos('S1', 'image', v1)
+        cv2.setTrackbarPos('H2', 'image', h2)
+        cv2.setTrackbarPos('L2', 'image', s2)
+        cv2.setTrackbarPos('S2', 'image', v2)
+
+    # get current positions of four trackbars
+    h1 = cv2.getTrackbarPos('H1','image')
+    h2 = cv2.getTrackbarPos('H2','image')
+    s1 = cv2.getTrackbarPos('L1','image')
+    s2 = cv2.getTrackbarPos('L2','image')
+    v1 = cv2.getTrackbarPos('S1','image')
+    v2 = cv2.getTrackbarPos('S2','image')
+
+    lower = np.array([h1, s1, v1])
+    upper = np.array([h2, s2, v2])
+
+    mask = cv2.inRange(hsv, lower, upper)
+    resized = imutils.resize(mask, width=SIZE)
+    cv2.imshow('image', resized)
+
+    # gridlines = colors.gridLines(image)
+    # resized = imutils.resize(gridlines, width=SIZE)
+    # cv2.imshow('Grid Lines', resized)
+
+
+
+    
+
+cv2.destroyAllWindows()
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