diff --git a/.idea/misc.xml b/.idea/misc.xml
index cb2632a..4f4d2c4 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.6 (spydian)" project-jdk-type="Python SDK" />
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.6.4 (~/anaconda3/bin/python)" project-jdk-type="Python SDK" />
   <component name="masterDetails">
     <states>
       <state key="ScopeChooserConfigurable.UI">
diff --git a/.idea/modules.xml b/.idea/modules.xml
index aae3f5e..cde7d2f 100644
--- a/.idea/modules.xml
+++ b/.idea/modules.xml
@@ -3,7 +3,6 @@
   <component name="ProjectModuleManager">
     <modules>
       <module fileurl="file://$PROJECT_DIR$/.idea/spydian.iml" filepath="$PROJECT_DIR$/.idea/spydian.iml" />
-      <module fileurl="file://$PROJECT_DIR$/.idea/spydian.iml" filepath="$PROJECT_DIR$/.idea/spydian.iml" />
     </modules>
   </component>
 </project>
\ No newline at end of file
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index ec35bbc..df54b63 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -1,7 +1,12 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="ChangeListManager">
-    <list default="true" id="49388e57-2b9e-468a-b880-1d7fb243112d" name="Default" comment="" />
+    <list default="true" id="49388e57-2b9e-468a-b880-1d7fb243112d" name="Default" comment="">
+      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/.idea/misc.xml" afterPath="$PROJECT_DIR$/.idea/misc.xml" />
+      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/.idea/modules.xml" afterPath="$PROJECT_DIR$/.idea/modules.xml" />
+      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/.idea/workspace.xml" afterPath="$PROJECT_DIR$/.idea/workspace.xml" />
+      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/main.py" afterPath="$PROJECT_DIR$/main.py" />
+    </list>
     <option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
     <option name="TRACKING_ENABLED" value="true" />
     <option name="SHOW_DIALOG" value="false" />
@@ -27,8 +32,8 @@
       <file leaf-file-name="main.py" pinned="false" current-in-tab="true">
         <entry file="file://$PROJECT_DIR$/main.py">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="340">
-              <caret line="20" column="0" lean-forward="false" selection-start-line="20" selection-start-column="0" selection-end-line="20" selection-end-column="0" />
+            <state relative-caret-position="287">
+              <caret line="25" column="26" lean-forward="false" selection-start-line="25" selection-start-column="26" selection-end-line="25" selection-end-column="26" />
               <folding>
                 <element signature="e#0#19#0" expanded="true" />
               </folding>
@@ -115,6 +120,7 @@
     </navigator>
     <panes>
       <pane id="Scope" />
+      <pane id="Scratches" />
       <pane id="ProjectPane">
         <subPane>
           <expand>
@@ -126,7 +132,6 @@
           <select />
         </subPane>
       </pane>
-      <pane id="Scratches" />
     </panes>
   </component>
   <component name="PropertiesComponent">
@@ -146,12 +151,10 @@
     </option>
   </component>
   <component name="RunManager">
-    <configuration default="true" type="PythonConfigurationType" factoryName="Python">
+    <configuration default="true" type="tests" factoryName="Doctests">
       <option name="INTERPRETER_OPTIONS" value="" />
       <option name="PARENT_ENVS" value="true" />
-      <envs>
-        <env name="PYTHONUNBUFFERED" value="1" />
-      </envs>
+      <envs />
       <option name="SDK_HOME" value="" />
       <option name="WORKING_DIRECTORY" value="" />
       <option name="IS_MODULE_SDK" value="false" />
@@ -159,23 +162,31 @@
       <option name="ADD_SOURCE_ROOTS" value="true" />
       <module name="für Robotototo" />
       <option name="SCRIPT_NAME" value="" />
-      <option name="PARAMETERS" value="" />
-      <option name="SHOW_COMMAND_LINE" value="false" />
-      <option name="EMULATE_TERMINAL" value="false" />
-      <option name="MODULE_MODE" value="false" />
+      <option name="CLASS_NAME" value="" />
+      <option name="METHOD_NAME" value="" />
+      <option name="FOLDER_NAME" value="" />
+      <option name="TEST_TYPE" value="TEST_SCRIPT" />
+      <option name="PATTERN" value="" />
+      <option name="USE_PATTERN" value="false" />
     </configuration>
-    <configuration default="true" type="Tox" factoryName="Tox">
+    <configuration default="true" type="PythonConfigurationType" factoryName="Python">
       <option name="INTERPRETER_OPTIONS" value="" />
       <option name="PARENT_ENVS" value="true" />
-      <envs />
+      <envs>
+        <env name="PYTHONUNBUFFERED" value="1" />
+      </envs>
       <option name="SDK_HOME" value="" />
       <option name="WORKING_DIRECTORY" value="" />
       <option name="IS_MODULE_SDK" value="false" />
       <option name="ADD_CONTENT_ROOTS" value="true" />
       <option name="ADD_SOURCE_ROOTS" value="true" />
       <module name="für Robotototo" />
+      <option name="SCRIPT_NAME" value="" />
+      <option name="PARAMETERS" value="" />
+      <option name="SHOW_COMMAND_LINE" value="false" />
+      <option name="EMULATE_TERMINAL" value="false" />
     </configuration>
-    <configuration default="true" type="tests" factoryName="Doctests">
+    <configuration default="true" type="Tox" factoryName="Tox">
       <option name="INTERPRETER_OPTIONS" value="" />
       <option name="PARENT_ENVS" value="true" />
       <envs />
@@ -185,13 +196,6 @@
       <option name="ADD_CONTENT_ROOTS" value="true" />
       <option name="ADD_SOURCE_ROOTS" value="true" />
       <module name="für Robotototo" />
-      <option name="SCRIPT_NAME" value="" />
-      <option name="CLASS_NAME" value="" />
-      <option name="METHOD_NAME" value="" />
-      <option name="FOLDER_NAME" value="" />
-      <option name="TEST_TYPE" value="TEST_SCRIPT" />
-      <option name="PATTERN" value="" />
-      <option name="USE_PATTERN" value="false" />
     </configuration>
     <configuration default="true" type="tests" factoryName="Nosetests">
       <option name="INTERPRETER_OPTIONS" value="" />
@@ -235,9 +239,10 @@
     </todo-panel>
   </component>
   <component name="ToolWindowManager">
-    <frame x="-8" y="-8" width="1936" height="1096" extended-state="6" />
+    <frame x="306" y="-9" width="1366" height="734" extended-state="6" />
+    <editor active="true" />
     <layout>
-      <window_info id="Project" active="true" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="true" show_stripe_button="true" weight="0.17966281" sideWeight="0.5" order="0" side_tool="false" content_ui="combo" />
+      <window_info id="Project" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="true" show_stripe_button="true" weight="0.17935579" sideWeight="0.5" order="0" side_tool="false" content_ui="combo" />
       <window_info id="TODO" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="6" side_tool="false" content_ui="tabs" />
       <window_info id="Event Log" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.32921347" sideWeight="0.5" order="7" side_tool="true" content_ui="tabs" />
       <window_info id="Run" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="2" side_tool="false" content_ui="tabs" />
@@ -247,6 +252,7 @@
       <window_info id="Terminal" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="9" side_tool="false" content_ui="tabs" />
       <window_info id="Debug" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.39979655" sideWeight="0.5" order="3" side_tool="false" content_ui="tabs" />
       <window_info id="Favorites" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="2" side_tool="true" content_ui="tabs" />
+      <window_info id="Data View" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="3" side_tool="false" content_ui="tabs" />
       <window_info id="Cvs" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="4" side_tool="false" content_ui="tabs" />
       <window_info id="Message" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="0" side_tool="false" content_ui="tabs" />
       <window_info id="Commander" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.4" sideWeight="0.5" order="0" side_tool="false" content_ui="tabs" />
@@ -254,7 +260,6 @@
       <window_info id="Hierarchy" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="2" side_tool="false" content_ui="combo" />
       <window_info id="Find" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
       <window_info id="Ant Build" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
-      <window_info id="Data View" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="3" side_tool="false" content_ui="tabs" />
     </layout>
   </component>
   <component name="VcsContentAnnotationSettings">
@@ -446,8 +451,8 @@
     <entry file="file://$PROJECT_DIR$/thermo.py" />
     <entry file="file://$PROJECT_DIR$/main.py">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="340">
-          <caret line="20" column="0" lean-forward="false" selection-start-line="20" selection-start-column="0" selection-end-line="20" selection-end-column="0" />
+        <state relative-caret-position="287">
+          <caret line="25" column="26" lean-forward="false" selection-start-line="25" selection-start-column="26" selection-end-line="25" selection-end-column="26" />
           <folding>
             <element signature="e#0#19#0" expanded="true" />
           </folding>
diff --git a/main.py b/main.py
index 144d49f..ed05438 100644
--- a/main.py
+++ b/main.py
@@ -13,11 +13,17 @@ configuration = {
 
 def main():
     navigator = hardwarelib.Navigator(16)
+    print('navigator created')
     light = hardwarelib.Light(15)
+    print('light created')
     ultrasonic = hardwarelib.Ultrasonic(11,7)
+    print('ultrasonic created')
     temperature = hardwarelib.Temperature()
+    print('temperature created')
     camera = graphiclib.PiCamera((500, 0), (500, 1000))
+    print('camera created')
     jstick = controllib.Joystick(navigator, light, configuration, camera)
+    print('joystic created')
 
     #pygame stuff
     screen = graphiclib.Screen(size=(1000,1000))