From c266d6c6c61af33f0787a975da369470caa1c56f Mon Sep 17 00:00:00 2001
From: Trivernis <trivernis@hotmail.de>
Date: Tue, 2 Jan 2018 13:52:56 +0100
Subject: [PATCH 1/4]  - changed git settings

---
 .gitignore          |   1 +
 .idea/workspace.xml | 828 --------------------------------------------
 2 files changed, 1 insertion(+), 828 deletions(-)
 create mode 100644 .gitignore
 delete mode 100644 .idea/workspace.xml

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..9f11b75
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+.idea/
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
deleted file mode 100644
index 2f1f596..0000000
--- a/.idea/workspace.xml
+++ /dev/null
@@ -1,828 +0,0 @@
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\ No newline at end of file

From 92efbd87c24f6bf081b92dbd4c885d483249d8e2 Mon Sep 17 00:00:00 2001
From: Trivernis <trivernis@hotmail.de>
Date: Tue, 2 Jan 2018 14:19:22 +0100
Subject: [PATCH 2/4]  - moved the additions into the lib folder  - created an
 update script  - changed git settings

---
 .idea/dictionaries/Trive.xml       | 10 ----------
 .idea/für Robotototo.iml          | 12 ------------
 .idea/misc.xml                     | 19 -------------------
 gyro.py => lib/gyro.py             |  0
 gyro_test.py => lib/gyro_test.py   |  2 +-
 motor.py => lib/motor.py           |  0
 motors.py => lib/motors.py         |  0
 servo_2.py => lib/servo_2.py       |  0
 thermo.py => lib/thermo.py         |  0
 ultrasonic.py => lib/ultrasonic.py |  0
 lib/ultrasonic_test.py             |  7 +++++++
 main.py                            | 12 +++++++-----
 ultrasonic_test.py                 |  6 ------
 update.sh                          | 13 +++++++++++++
 14 files changed, 28 insertions(+), 53 deletions(-)
 delete mode 100644 .idea/dictionaries/Trive.xml
 delete mode 100644 .idea/für Robotototo.iml
 delete mode 100644 .idea/misc.xml
 rename gyro.py => lib/gyro.py (100%)
 rename gyro_test.py => lib/gyro_test.py (78%)
 rename motor.py => lib/motor.py (100%)
 rename motors.py => lib/motors.py (100%)
 rename servo_2.py => lib/servo_2.py (100%)
 rename thermo.py => lib/thermo.py (100%)
 rename ultrasonic.py => lib/ultrasonic.py (100%)
 create mode 100644 lib/ultrasonic_test.py
 delete mode 100644 ultrasonic_test.py
 create mode 100644 update.sh

diff --git a/.idea/dictionaries/Trive.xml b/.idea/dictionaries/Trive.xml
deleted file mode 100644
index 1c38218..0000000
--- a/.idea/dictionaries/Trive.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<component name="ProjectDictionaryState">
-  <dictionary name="Trive">
-    <words>
-      <w>adafruit</w>
-      <w>pygame</w>
-      <w>smbus</w>
-      <w>sudo</w>
-    </words>
-  </dictionary>
-</component>
\ No newline at end of file
diff --git a/.idea/für Robotototo.iml b/.idea/für Robotototo.iml
deleted file mode 100644
index 1d3bd13..0000000
--- a/.idea/für Robotototo.iml	
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<module type="PYTHON_MODULE" version="4">
-  <component name="NewModuleRootManager">
-    <content url="file://$MODULE_DIR$" />
-    <orderEntry type="jdk" jdkName="Python 3.6.4 (~/anaconda3/bin/python)" jdkType="Python SDK" />
-    <orderEntry type="sourceFolder" forTests="false" />
-  </component>
-  <component name="TestRunnerService">
-    <option name="projectConfiguration" value="Nosetests" />
-    <option name="PROJECT_TEST_RUNNER" value="Nosetests" />
-  </component>
-</module>
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
deleted file mode 100644
index 4f4d2c4..0000000
--- a/.idea/misc.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <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">
-        <settings>
-          <splitter-proportions>
-            <option name="proportions">
-              <list>
-                <option value="0.2" />
-              </list>
-            </option>
-          </splitter-proportions>
-        </settings>
-      </state>
-    </states>
-  </component>
-</project>
\ No newline at end of file
diff --git a/gyro.py b/lib/gyro.py
similarity index 100%
rename from gyro.py
rename to lib/gyro.py
diff --git a/gyro_test.py b/lib/gyro_test.py
similarity index 78%
rename from gyro_test.py
rename to lib/gyro_test.py
index 068a375..22c5f66 100644
--- a/gyro_test.py
+++ b/lib/gyro_test.py
@@ -1,4 +1,4 @@
-import gyro
+from lib import gyro
 import time
 while True:
     print(gyro.getAllOut()['rot'])
diff --git a/motor.py b/lib/motor.py
similarity index 100%
rename from motor.py
rename to lib/motor.py
diff --git a/motors.py b/lib/motors.py
similarity index 100%
rename from motors.py
rename to lib/motors.py
diff --git a/servo_2.py b/lib/servo_2.py
similarity index 100%
rename from servo_2.py
rename to lib/servo_2.py
diff --git a/thermo.py b/lib/thermo.py
similarity index 100%
rename from thermo.py
rename to lib/thermo.py
diff --git a/ultrasonic.py b/lib/ultrasonic.py
similarity index 100%
rename from ultrasonic.py
rename to lib/ultrasonic.py
diff --git a/lib/ultrasonic_test.py b/lib/ultrasonic_test.py
new file mode 100644
index 0000000..3d8df4f
--- /dev/null
+++ b/lib/ultrasonic_test.py
@@ -0,0 +1,7 @@
+from lib import ultrasonic
+
+sensor= ultrasonic.Sensor()
+sensor.init(11,7)
+print('Beginn der Messung')
+print(sensor.echo())
+sensor.clean()
\ No newline at end of file
diff --git a/main.py b/main.py
index 46ef9b2..01814c8 100644
--- a/main.py
+++ b/main.py
@@ -1,4 +1,5 @@
-import pygame, picamera, ultrasonic#,gyro
+import pygame, picamera  #,gyro
+from lib import ultrasonic
 from datetime import datetime
 from subprocess import call
 import RPi.GPIO as GPIO
@@ -9,7 +10,7 @@ import RPi.GPIO as GPIO
 BLACK    = (   0,   0,   0)
 WHITE    = ( 255, 255, 255)
 # --ultrasonic--
-sensor=ultrasonic.Sensor()
+sensor= ultrasonic.Sensor()
 sensor.init(11,7)
 # -- Nightmode
 # WHITE, BLACK=BLACK,WHITE
@@ -71,17 +72,17 @@ def reset_dire():
 
 def drive_left():
     if not left:
-        call(['python', 'servo_2.py','left'])
+        call(['python', './lib/servo_2.py','left'])
     return
 
 def drive_right():
     if not right:
-        call(['python', 'servo_2.py','right'])
+        call(['python', './lib/servo_2.py','right'])
     return
 
 def reset_turn():
     if left or right:
-        call(['python','servo_2.py'])
+        call(['python','./lib/servo_2.py'])
     return
 # ____________________________
 # -- special functions
@@ -108,6 +109,7 @@ def turn_rec(*record):
 
 def imgRefresh():
     #turn_rec(True)
+    image = None
     try:
         image = pygame.image.load('image.jpg')
         image = pygame.transform.scale(image, (192*2, 108*2))
diff --git a/ultrasonic_test.py b/ultrasonic_test.py
deleted file mode 100644
index 4f210db..0000000
--- a/ultrasonic_test.py
+++ /dev/null
@@ -1,6 +0,0 @@
-import ultrasonic
-sensor=ultrasonic.Sensor()
-sensor.init(11,7)
-print('Beginn der Messung')
-print(sensor.echo())
-sensor.clean()
\ No newline at end of file
diff --git a/update.sh b/update.sh
new file mode 100644
index 0000000..fb4ab47
--- /dev/null
+++ b/update.sh
@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+cd ..
+if [ -d "spydian/" ];then
+    sudo git clone https://bitbucket.org/trivernis/spydian.git spydian_update
+    sudo rsync -a ./spydian_update/ ./spydian/
+    sudo rm -r ./spydian_update/
+    sudo chmod -R u+rw ./spydian/
+    exit 0
+else
+    sudo git clone https://bitbucket.org/trivernis/spydian.git spydian
+    sudo chmod -R u+rw ./spydian/
+    exit 0
+fi
\ No newline at end of file

From 2d11ea18ca05f31fcab727fabd68e0b602eacb29 Mon Sep 17 00:00:00 2001
From: Trivernis <trivernis@hotmail.de>
Date: Tue, 2 Jan 2018 15:24:27 +0100
Subject: [PATCH 3/4]  - added the hardwarelib to handle all the GPIO stuff

---
 .idea/inspectionProfiles/Project_Default.xml  |  12 ---
 .../Spyder-Controls.odt                       | Bin
 lib/hardwarelib.py                            |  93 ++++++++++++++++++
 lib/{servo_2.py => servolib.py}               |   0
 lib/thermo.py                                 |   8 --
 lib/thermolib.py                              |   8 ++
 main.py                                       |   6 +-
 main_new.py                                   |   9 ++
 8 files changed, 113 insertions(+), 23 deletions(-)
 delete mode 100644 .idea/inspectionProfiles/Project_Default.xml
 rename Spyder-Controls.odt => Manuals etc/Spyder-Controls.odt (100%)
 create mode 100644 lib/hardwarelib.py
 rename lib/{servo_2.py => servolib.py} (100%)
 delete mode 100644 lib/thermo.py
 create mode 100644 lib/thermolib.py
 create mode 100644 main_new.py

diff --git a/.idea/inspectionProfiles/Project_Default.xml b/.idea/inspectionProfiles/Project_Default.xml
deleted file mode 100644
index abd6203..0000000
--- a/.idea/inspectionProfiles/Project_Default.xml
+++ /dev/null
@@ -1,12 +0,0 @@
-<component name="InspectionProjectProfileManager">
-  <profile version="1.0">
-    <option name="myName" value="Project Default" />
-    <inspection_tool class="PyUnresolvedReferencesInspection" enabled="true" level="WARNING" enabled_by_default="true">
-      <option name="ignoredIdentifiers">
-        <list>
-          <option value="Adafrouit_PCA9685" />
-        </list>
-      </option>
-    </inspection_tool>
-  </profile>
-</component>
\ No newline at end of file
diff --git a/Spyder-Controls.odt b/Manuals etc/Spyder-Controls.odt
similarity index 100%
rename from Spyder-Controls.odt
rename to Manuals etc/Spyder-Controls.odt
diff --git a/lib/hardwarelib.py b/lib/hardwarelib.py
new file mode 100644
index 0000000..513b06f
--- /dev/null
+++ b/lib/hardwarelib.py
@@ -0,0 +1,93 @@
+from subprocess import call, check_output
+from lib import ultrasonic
+import RPi.GPIO as GPIO
+
+class Navigator():
+    """Forward Motor with relais, Steering with servo"""
+
+    def __init__(self, mrelaispin):
+        self.mrelpin = mrelaispin
+        self.steer = None
+        GPIO.setup(self.mrelpin, GPIO.OUT)
+        self.stop()
+
+
+    def left(self):
+        if self.steer != 'left':
+            call(['python', './lib/servolib.py', 'left'])
+            self.steer = 'left'
+
+
+    def right(self):
+        if self.steer != 'right':
+            call(['python', './lib/servolib.py', 'right'])
+            self.steer = 'right'
+
+
+    def straight(self):
+        if self.steer:
+            call(['python', './lib/servolib.py'])
+            self.steer = None
+
+
+    def forward(self):
+        GPIO.output(self.mrelpin, False)
+
+
+    def stop(self):
+        GPIO.output(self.mrelpin, True)
+
+
+class Light:
+    """Light switched with a relais"""
+
+    def __init__(self, lightpin):
+        self.pin = lightpin
+        GPIO.setup(self.pin, GPIO.OUT)
+        GPIO.output(self.pin, True)
+        self.shine = False
+
+
+    def switch(self):
+        GPIO.output(self.pin, not self.shine)
+        self.shine = not self.shine
+
+
+    def switch_on(self):
+        GPIO.output(self.pin, False)
+
+
+    def switch_of(self):
+        GPIO.output(self.pin, True)
+
+
+class Ultrasonic:
+    """A ultrasonic sensor"""
+
+    def __init__(self, trigger, echo):
+        self.sensor =ultrasonic.Sensor()
+        self.sensor.init(trigger, echo)
+
+
+    def get_distance(self):
+        distance = self.sensor.echo()
+        return distance
+
+
+    def __del__(self):
+        self.sensor.clean()
+
+
+class Temperature:
+    """A temperature sensor"""
+
+    def get_Temperature(self):
+        outp = check_output(['python','-u','./lib/thermolib.py']).decode('ISO-8859-1')
+        temp, hum = outp.split('|')
+        return temp
+
+
+    def get_Humidity(self):
+        outp = check_output(['python','-u','./lib/thermolib.py']).decode('ISO-8859-1')
+        temp, hum = outp.split('|')
+        return hum
\ No newline at end of file
diff --git a/lib/servo_2.py b/lib/servolib.py
similarity index 100%
rename from lib/servo_2.py
rename to lib/servolib.py
diff --git a/lib/thermo.py b/lib/thermo.py
deleted file mode 100644
index 7524db8..0000000
--- a/lib/thermo.py
+++ /dev/null
@@ -1,8 +0,0 @@
-import sys
-import Adafruit_DHT
-
-while True:
-
-    humidity, temperature = Adafruit_DHT.read_retry(11, 14)
-
-    print 'Temp: {} C  Humidity: {} %'.format(temperature, humidity)
\ No newline at end of file
diff --git a/lib/thermolib.py b/lib/thermolib.py
new file mode 100644
index 0000000..1e85e3d
--- /dev/null
+++ b/lib/thermolib.py
@@ -0,0 +1,8 @@
+import Adafruit_DHT
+
+def main():
+    humidity, temperature = Adafruit_DHT.read_retry(11, 14)
+    print '{}|{}'.format(temperature, humidity)
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/main.py b/main.py
index 01814c8..dfa4fdc 100644
--- a/main.py
+++ b/main.py
@@ -72,17 +72,17 @@ def reset_dire():
 
 def drive_left():
     if not left:
-        call(['python', './lib/servo_2.py','left'])
+        call(['python', './lib/servolib.py','left'])
     return
 
 def drive_right():
     if not right:
-        call(['python', './lib/servo_2.py','right'])
+        call(['python', './lib/servolib.py','right'])
     return
 
 def reset_turn():
     if left or right:
-        call(['python','./lib/servo_2.py'])
+        call(['python','./lib/servolib.py'])
     return
 # ____________________________
 # -- special functions
diff --git a/main_new.py b/main_new.py
new file mode 100644
index 0000000..006cd68
--- /dev/null
+++ b/main_new.py
@@ -0,0 +1,9 @@
+import pygame, time
+from lib import ultrasonic
+
+def main():
+    pygame.display.init()
+    pass
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file

From 5e4974327bf5035445e43c608637fc6b8a3195b7 Mon Sep 17 00:00:00 2001
From: Trivernis <trivernis@hotmail.de>
Date: Tue, 2 Jan 2018 17:23:27 +0100
Subject: [PATCH 4/4]  - renamed main.py to main_old.py  - renamed main_new.py
 to main.py  - added the camera functionalities  - added the joystick to
 controllib

---
 install.sh                                 |   4 +-
 lib/__pycache__/graphiclib.cpython-36.pyc  | Bin 0 -> 2371 bytes
 lib/__pycache__/hardwarelib.cpython-36.pyc | Bin 0 -> 3566 bytes
 lib/__pycache__/ultrasonic.cpython-36.pyc  | Bin 0 -> 1371 bytes
 lib/controllib.py                          |  99 +++++
 lib/graphiclib.py                          |  81 ++++
 main.py                                    | 412 +++------------------
 main_new.py                                |   9 -
 main_old.py                                | 366 ++++++++++++++++++
 gasgasgas.wav => sounds/gasgasgas.wav      | Bin
 10 files changed, 595 insertions(+), 376 deletions(-)
 create mode 100644 lib/__pycache__/graphiclib.cpython-36.pyc
 create mode 100644 lib/__pycache__/hardwarelib.cpython-36.pyc
 create mode 100644 lib/__pycache__/ultrasonic.cpython-36.pyc
 create mode 100644 lib/controllib.py
 create mode 100644 lib/graphiclib.py
 delete mode 100644 main_new.py
 create mode 100644 main_old.py
 rename gasgasgas.wav => sounds/gasgasgas.wav (100%)

diff --git a/install.sh b/install.sh
index f056905..18e4a82 100644
--- a/install.sh
+++ b/install.sh
@@ -1,3 +1,4 @@
+#!/usr/bin/env bash
 sudo apt update
 sudo apt upgrade
 sudo apt dist-upgrade
@@ -6,4 +7,5 @@ sudo apt install python-smbus
 sudo apt install i2c-tools
 sudo pip install adafruit-pca9685
 sudo apt install vsftpd
-sudo apt install vlc
\ No newline at end of file
+sudo apt install vlc
+sudo modprobe bcm2835-v4l2
\ No newline at end of file
diff --git a/lib/__pycache__/graphiclib.cpython-36.pyc b/lib/__pycache__/graphiclib.cpython-36.pyc
new file mode 100644
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diff --git a/lib/controllib.py b/lib/controllib.py
new file mode 100644
index 0000000..a3398df
--- /dev/null
+++ b/lib/controllib.py
@@ -0,0 +1,99 @@
+import pygame, os
+
+class Joystick():
+
+    def __init__(self, navigator, light, configuration, camera):
+        #joystick
+        pygame.joystick.init()
+        joystick = pygame.joystick.Joystick(0)
+        joystick.init()
+        #sound
+        pygame.mixer.init()
+        sound = pygame.mixer.Sound('./sounds/gasgasgas.wav')
+        sound.set_volume(0.3)
+        self.camera = camera
+        self.sound = sound
+        self.joystick = joystick
+        self.navigator = navigator
+        self.light = light
+        self.configuration = configuration
+        self.pressed = []
+        self.splaying = False
+
+    def handle(self):
+        c = self.configuration
+        nav = self.navigator
+        dict = {}
+        #axes
+        for i in range(self.joystick.get_numaxes()):
+            axis = self.joystick.get_axis(i)
+            dict['Axis {}'.format(i)]=axis
+
+            if i==c['GAS'] and axis>0.1:
+                nav.forward()
+            elif i==c['GAS'] and axis<0.1:
+                nav.stop()
+        #buttons
+        for i in range(self.joystick.get_numbuttons()):
+            button = self.joystick.get_button(i)
+            dict['Button {}'.format(i)] = button
+
+            if i==c['LIGHT'] and button==1 and button not in self.pressed:
+                self.light.switch()
+                self.pressed.append(i)
+            elif i==c['LIGHT'] and button==0 and button in self.pressed:
+                self.pressed.remove(i)
+
+            elif i==c['MUSIC'] and button==1 and button not in self.pressed:
+                if self.splaying:
+                    self.sound.stop()
+                    self.splaying = False
+                else:
+                    self.sound.play()
+                    self.splaying = True
+                self.pressed.append(i)
+            elif i==c['MUSIC'] and button==0 and button in self.pressed:
+                self.pressed.remove(i)
+
+            elif i==c['VOLIN'] and button==1 and button not in self.pressed:
+                self.sound.set_volume(self.sound.get_volume()+0.1)
+                self.pressed.append(i)
+            elif i==c['VOLIN'] and button==0 and button in self.pressed:
+                self.sound.set_volume(self.sound.get_volume() - 0.1)
+                self.pressed.remove(i)
+
+            elif i==c['VOLDE'] and button==1 and button not in self.pressed:
+                self.pressed.append(i)
+            elif i==c['VOLDE'] and button==0 and button in self.pressed:
+                self.pressed.remove(i)
+
+            elif i==c['REC'] and button==1 and button not in self.pressed:
+                self._save_camimg()
+                self.pressed.append(i)
+            elif i==c['REC'] and button==0 and button in self.pressed:
+                self.pressed.remove(i)
+
+        #hats
+        for i in range(self.joystick.get_numhats()):
+            hat = self.joystick.get_hat(i)
+            dict['Hat {}'.format(i)] = hat
+
+            if hat==(-1,0):
+                nav.left()
+            elif hat==(1,0):
+                nav.right()
+            else:
+                nav.straight()
+
+        dict['Volume'] = self.sound.get_volume()
+        return dict
+
+
+    def _save_camimg(self):
+        img = self.camera.image
+        if os.path.isfile('image.jpg'):
+            count=0
+            while os.path.isfile('./images/img{}.jpg'.format(count)):
+                count+=1
+            os.rename('image.jpg', 'images/img{}.jpg'.format(count))
+        pygame.image.save(img, 'image.jpg')
\ No newline at end of file
diff --git a/lib/graphiclib.py b/lib/graphiclib.py
new file mode 100644
index 0000000..e056a3b
--- /dev/null
+++ b/lib/graphiclib.py
@@ -0,0 +1,81 @@
+import pygame, pygame.camera
+from pygame import *
+
+def render_text_line(image, color, font, text, pos = (0,0)):
+    render_text = font.render(text, 1, color)
+    image.blit(render_text, pos)
+
+class Screen:
+    """The Screen for the Terminal"""
+
+    def __init__(self, size = (100,100), title = "Screen"):
+        pygame.display.init()
+        self.size = size
+        self.screen = pygame.display.set_mode(self.size)
+        pygame.display.set_caption(title)
+
+
+    def refresh(self, rectangles=None):
+        pygame.display.update(rectangles)
+
+
+    def toggle_fullscreen(self):
+        if self.fullscreen:
+            pygame.display.set_mode(self.size)
+            self.fullscreen = False
+        else:
+            displayinfo = pygame.display.Info()
+            fullsize = (displayinfo.current_w, displayinfo.current_h)
+            pygame.display.set_mode(fullsize, FULLSCREEN | DOUBLEBUF)
+            self.fullscreen = True
+
+
+class List(pygame.sprite.Sprite):
+    """A List that shows the values of the terminal"""
+
+    def __init__(self, position, size):
+        pygame.sprite.Sprite.__init__(self)
+        pygame.font.init()
+        self.size = size
+        self.image = pygame.Surface(self.size)
+        self.image.fill((0,0,0))
+        self.rect = self.image.get_rect()
+        self.rect.topleft = position
+        self.font = pygame.font.SysFont('Arial',25)
+        self.dict = {}
+        self.updated = True
+        self.txtsize = self.font.size('__||__')
+
+
+    def set_dict(self, dict):
+        self.dict = dict
+        self.updated = True
+
+    def update(self, *args):
+        if self.updated:
+            height = 0
+
+            for key in self.dict.keys():
+                line = '{}: {}'.format(key, self.dict[key])
+                render_text_line(self.image, (255, 255, 255), self.font, line, (0,height))
+                height+=self.txtsize[1]
+
+            self.updated = False
+
+class PiCamera(pygame.sprite.Sprite):
+    """The Picamera as pygame cam"""
+
+    def __init__(self, position, size):
+        pygame.sprite.Sprite.__init__(self)
+        pygame.camera.init()
+        cam_list = pygame.camera.list_cameras()
+        camera = pygame.camera.Camera(cam_list[0], size)
+        self.camera = camera
+        self.size = size
+        self.image = pygame.Surface(self.size)
+        self.image.fill((0, 0, 0))
+        self.rect = self.image.get_rect()
+        self.rect.topleft = position
+
+    def update(self, *args):
+        self.camera.get_image(self.image)
\ No newline at end of file
diff --git a/main.py b/main.py
index dfa4fdc..144d49f 100644
--- a/main.py
+++ b/main.py
@@ -1,366 +1,46 @@
-import pygame, picamera  #,gyro
-from lib import ultrasonic
-from datetime import datetime
-from subprocess import call
-import RPi.GPIO as GPIO
-
-
-
-# Define some colors
-BLACK    = (   0,   0,   0)
-WHITE    = ( 255, 255, 255)
-# --ultrasonic--
-sensor= ultrasonic.Sensor()
-sensor.init(11,7)
-# -- Nightmode
-# WHITE, BLACK=BLACK,WHITE
-# Pins BCM
-motor = 16
-lightpin=15
-#
-# --config--
-use_camera=False
-use_gyro_preview=False
-#--
-forpress = False
-light = False
-lpress = False
-play = False
-ppress = False
-voluppress = False
-voldopress = False
-recpress=False
-recording=False
-left=False
-right=False
-lastContact=datetime.now()
-if use_camera:
-    cam = picamera.PiCamera()
-
-top_view = pygame.image.load('top_view.png')
-top_view= pygame.transform.scale(top_view, (192, 108))
-
-# Axis
-GAS = 5
-STOP = 2
-
-# Buttons
-MUSIC = 1
-LIGHT = 0
-VOLUP = 5
-VOLDO = 4
-RECSTART = 3
-
-# setup the relais
-GPIO.setup(motor,GPIO.OUT)
-GPIO.setup(lightpin,GPIO.OUT)
-GPIO.output(motor,True)
-GPIO.output(lightpin, True)
-# ____________________________
-# -- driving functions
-def drive_forw():
-    GPIO.output(motor,False)
-    return
-
-def drive_backw():
-    print(drive_backw)
-    return
-
-def reset_dire():
-    GPIO.output(motor,True)
-    return
-
-def drive_left():
-    if not left:
-        call(['python', './lib/servolib.py','left'])
-    return
-
-def drive_right():
-    if not right:
-        call(['python', './lib/servolib.py','right'])
-    return
-
-def reset_turn():
-    if left or right:
-        call(['python','./lib/servolib.py'])
-    return
-# ____________________________
-# -- special functions
-def turn_light(shine):
-    if shine:
-        GPIO.output(lightpin, False)
-    else:
-        GPIO.output(lightpin, True)
-    return
-
-def turn_rec(*record):
-    #if record:
-        #cam.start_recording('record.h264')
-        #return
-    #else:
-        #cam.stop_recording()
-        #return
-    if use_camera:
-        try:
-            cam.capture('image.jpg', resize=(192 * 2, 108 * 2))
-            cam.capture("./Images/image{}.jpg".format(str(datetime.now()).replace(':','_')))
-        except Exception as error:
-            print(error)
-
-def imgRefresh():
-    #turn_rec(True)
-    image = None
-    try:
-        image = pygame.image.load('image.jpg')
-        image = pygame.transform.scale(image, (192*2, 108*2))
-    except:
-        pass
-    screen.blit(image, (500, 10))
-    #gyro_output = gyro.getAllOut()
-    #rotation = gyro_output['rot']
-    if use_gyro_preview:
-        top_view = pygame.image.load('top_view.png')
-        # The scaling of the top_view Spider
-        scal_x = abs(int(192 * ((abs(rotation[0]) / 90) - 1)))
-        scal_y = abs(int(108 * ((abs(rotation[1]) / 90) - 1)) - 1)
-        top_view = pygame.transform.scale(top_view, (scal_x, scal_y))
-        screen.blit(top_view, (550 - (scal_x / 2), 300 - (scal_y / 2)))
-
-def printDriveData():
-    textPrint.print(screen,"")
-    textPrint.print(screen,"Sound Information")
-    textPrint.print(screen, "   Sound: {}".format(play))
-    textPrint.print(screen, "   Volume: {}".format(sound.get_volume()))
-    textPrint.print(screen, "Light: {}".format(light))
-    textPrint.print(screen, "Last Controller Input: {}".format((datetime.now()-lastContact).seconds))
-    #gyro_output=gyro.getAllOut()
-    #rotation=gyro_output['rot']
-    #textPrint.print(screen, "Rotation: X:{}; Y:{}".format(rotation[0],rotation[1]))
-    #acceleration = gyro_output['acc_sca']
-    #textPrint.print(screen, "Acceleration: X:{}; Y:{}; Z:{}".format(acceleration[0], acceleration[1],acceleration[2]))
-    distance=sensor.echo()
-    textPrint.print(screen, "Distance: {} cm".format(distance))
-    #if distance<40:
-    #    turn_rec()
-
-def doSubroutine():
-    if abs((datetime.now()-lastContact).seconds)==30:
-        print('Contact Lost')
-    imgRefresh()
-
-# ____________________________
-class TextPrint:
-    def __init__(self):
-        self.reset()
-        self.font = pygame.font.Font(None, 20)
-
-    def print(self, screen, textString):
-        textBitmap = self.font.render(textString, True, BLACK)
-        screen.blit(textBitmap, [self.x, self.y])
-        self.y += self.line_height
-        
-    def reset(self):
-        self.x = 10
-        self.y = 10
-        self.line_height = 15
-        
-    def indent(self):
-        self.x += 10
-        
-    def unindent(self):
-        self.x -= 10
-    
-pygame.init()
-
-# ________________________
-# -- music playback
-pygame.mixer.init()
-sound=pygame.mixer.Sound('./gasgasgas.wav')
-sound.set_volume(0.3)
-# ________________________
- 
-# Set the width and height of the screen [width,height]
-size = [1000, 700]
-screen = pygame.display.set_mode(size)
-
-pygame.display.set_caption("SPYDER STEUERZENTRALE")
-
-# Loop until the user clicks the close button.
-done = False
-
-# Used to manage how fast the screen updates
-clock = pygame.time.Clock()
-
-# Initialize the joysticks
-pygame.joystick.init()
-    
-# Get ready to print
-textPrint = TextPrint()
-turn_rec(True)
-image=pygame.image.load('image.jpg')
-image=pygame.transform.scale(image,(192*2,108*2))
-count=0
-
-# -------- Main Program Loop -----------
-while done==False:
-    # EVENT PROCESSING STEP
-    for event in pygame.event.get(): # User did something
-        if event.type == pygame.QUIT: # If user clicked close
-            done=True # Flag that we are done so we exit this loop
-        
-        # Possible joystick actions: JOYAXISMOTION JOYBALLMOTION JOYBUTTONDOWN JOYBUTTONUP JOYHATMOTIO
-            
- 
-    # DRAWING STEP
-    # First, clear the screen to white. Don't put other drawing commands
-    # above this, or they will be erased with this command.
-    screen.fill(WHITE)
-    textPrint.reset()
-
-    # Get count of joysticks
-    joystick_count = pygame.joystick.get_count()
-
-    textPrint.print(screen, "Number of joysticks: {}".format(joystick_count) )
-    textPrint.indent()
-    
-    # For each joystick:
-    for i in range(joystick_count):
-        joystick = pygame.joystick.Joystick(i)
-        joystick.init()
-    
-        textPrint.print(screen, "Joystick {}".format(i) )
-        textPrint.indent()
-    
-        # Get the name from the OS for the controller/joystick
-        #name = joystick.get_name()
-        #textPrint.print(screen, "Joystick name: {}".format(name) )
-        
-        # Usually axis run in pairs, up/down for one, and left/right for
-        # the other.
-        axes = joystick.get_numaxes()
-        textPrint.print(screen, "Number of axes: {}".format(axes) )
-        textPrint.indent()
-        
-        for i in range( axes ):
-            axis = joystick.get_axis( i )
-            textPrint.print(screen, "Axis {} value: {:>6.3f}".format(i, axis) )
-            if i==STOP and axis>0.1:
-                print('STOP')
-                drive_backw()
-                lastContact=datetime.now()
-            elif i==GAS and axis>0.1:
-                print('GAS')
-                if not forpress:
-                    drive_forw()
-                    forpress=True
-                lastContact=datetime.now()
-            elif i==GAS and axis<0.1:
-                if forpress:
-                    reset_dire()
-                    print('RESETDRIVE')
-                    forpress=False
-
-        textPrint.unindent()
-            
-        buttons = joystick.get_numbuttons()
-        textPrint.print(screen, "Number of buttons: {}".format(buttons) )
-        textPrint.indent()
-
-        for i in range( buttons ):
-            button = joystick.get_button( i )
-            textPrint.print(screen, "Button {:>2} value: {}".format(i,button) )
-            if button==1:
-                lastContact=datetime.now()
-            #if i==7 and button==1:
-            #    print('GAS')
-            #    drive_forw()
-            #elif i==6 and button==1:
-            #    print('STOP')
-            #    drive_backw()
-            if i==LIGHT and button==1 and not lpress:
-                light=not light
-                lpress=True
-                turn_light(light)
-                print('Light: {}'.format(light))
-            elif i==LIGHT and button==0:
-                lpress=False
-            elif i==MUSIC and button==1 and not play and not ppress:
-                ppress=True
-                sound.play()
-                play=True
-                print('Sound: {}'.format(play))
-            elif i==MUSIC and button==1 and play and not ppress:
-                ppress=True
-                sound.stop()
-                play=False
-                print('Sound: {}'.format(play))
-            elif i==MUSIC and button==0 and ppress:
-                ppress=False
-            elif i==VOLUP and button==1 and not voluppress:
-                sound.set_volume(sound.get_volume()+0.1)
-                print('Volume: {}'.format(sound.get_volume()))
-                voluppress=True
-            elif i==VOLUP and button==0:
-                voluppress=False
-            elif i== VOLDO and button==0:
-                voldopress=False
-            elif i==VOLDO and button==1 and not voldopress:
-                sound.set_volume(sound.get_volume()-0.1)
-                print('Volume: {}'.format(sound.get_volume()))
-                voldopress=True
-            elif i==RECSTART and button==1 and not recpress:
-                recording=not recording
-                turn_rec(recording)
-                print('Recording: {}'.format(recording))
-                recpress=True
-            elif i==RECSTART and button==0:
-                recpress=False
-                
-        textPrint.unindent()
-            
-        # Hat switch. All or nothing for direction, not like joysticks.
-        # Value comes back in an array.
-        hats = joystick.get_numhats()
-        textPrint.print(screen, "Number of hats: {}".format(hats) )
-        textPrint.indent()
-
-        for i in range( hats ):
-            hat = joystick.get_hat( i )
-            textPrint.print(screen, "Hat {} value: {}".format(i, str(hat)) )
-            if hat==(-1,0):
-                print('LEFT')
-                drive_left()
-                left=True
-                right=False
-                lastContact=datetime.now()
-            elif hat==(1,0):
-                print('RIGHT')
-                drive_right()
-                right=True
-                left=False
-                lastContact=datetime.now()
-            else:
-                reset_turn()
-                left=False
-                right=False
-        textPrint.unindent()
-        
-        textPrint.unindent()
-
-        printDriveData()
-        doSubroutine()
-
-    
-    # ALL CODE TO DRAW SHOULD GO ABOVE THIS COMMENT
-    
-    # Go ahead and update the screen with what we've drawn.
-    pygame.display.flip()
-
-    # Limit to 20 frames per second
-    clock.tick(20)
-    
-# Close the window and quit.
-# If you forget this line, the program will 'hang'
-# on exit if running from IDLE.
-sensor.clean()
-pygame.quit ()
+import pygame, time
+from lib import graphiclib, hardwarelib, controllib
+
+configuration = {
+    'GAS':5,
+    'STOP':2,
+    'MUSIC':1,
+    'LIGHT':0,
+    'VOLIN':5,
+    'VOLDE':4,
+    'REC':3
+}
+
+def main():
+    navigator = hardwarelib.Navigator(16)
+    light = hardwarelib.Light(15)
+    ultrasonic = hardwarelib.Ultrasonic(11,7)
+    temperature = hardwarelib.Temperature()
+    camera = graphiclib.PiCamera((500, 0), (500, 1000))
+    jstick = controllib.Joystick(navigator, light, configuration, camera)
+
+    #pygame stuff
+    screen = graphiclib.Screen(size=(1000,1000))
+    all_sprites = pygame.sprite.RenderUpdates()
+    list = graphiclib.List((0,0),(500,1000))
+    all_sprites.add(list)
+    all_sprites.add(camera)
+    clock = pygame.time.Clock()
+    running = True
+
+    while running:
+        clock.tick(25)
+        for event in pygame.event.get():
+            if event.type == pygame.QUIT:
+                running = False
+
+        dict = jstick.handle()
+        list.set_dict(dict)
+        all_sprites.update()
+        update_rects = all_sprites.draw(screen.screen)
+        screen.refresh(rectangles= update_rects)
+    pygame.quit()
+
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/main_new.py b/main_new.py
deleted file mode 100644
index 006cd68..0000000
--- a/main_new.py
+++ /dev/null
@@ -1,9 +0,0 @@
-import pygame, time
-from lib import ultrasonic
-
-def main():
-    pygame.display.init()
-    pass
-
-if __name__ == '__main__':
-    main()
\ No newline at end of file
diff --git a/main_old.py b/main_old.py
new file mode 100644
index 0000000..d8a34db
--- /dev/null
+++ b/main_old.py
@@ -0,0 +1,366 @@
+import pygame, picamera  #,gyro
+from lib import ultrasonic
+from datetime import datetime
+from subprocess import call
+import RPi.GPIO as GPIO
+
+
+
+# Define some colors
+BLACK    = (   0,   0,   0)
+WHITE    = ( 255, 255, 255)
+# --ultrasonic--
+sensor= ultrasonic.Sensor()
+sensor.init(11,7)
+# -- Nightmode
+# WHITE, BLACK=BLACK,WHITE
+# Pins BCM
+motor = 16
+lightpin=15
+#
+# --config--
+use_camera=False
+use_gyro_preview=False
+#--
+forpress = False
+light = False
+lpress = False
+play = False
+ppress = False
+voluppress = False
+voldopress = False
+recpress=False
+recording=False
+left=False
+right=False
+lastContact=datetime.now()
+if use_camera:
+    cam = picamera.PiCamera()
+
+top_view = pygame.image.load('top_view.png')
+top_view= pygame.transform.scale(top_view, (192, 108))
+
+# Axis
+GAS = 5
+STOP = 2
+
+# Buttons
+MUSIC = 1
+LIGHT = 0
+VOLUP = 5
+VOLDO = 4
+RECSTART = 3
+
+# setup the relais
+GPIO.setup(motor,GPIO.OUT)
+GPIO.setup(lightpin,GPIO.OUT)
+GPIO.output(motor,True)
+GPIO.output(lightpin, True)
+# ____________________________
+# -- driving functions
+def drive_forw():
+    GPIO.output(motor,False)
+    return
+
+def drive_backw():
+    print(drive_backw)
+    return
+
+def reset_dire():
+    GPIO.output(motor,True)
+    return
+
+def drive_left():
+    if not left:
+        call(['python', './lib/servolib.py','left'])
+    return
+
+def drive_right():
+    if not right:
+        call(['python', './lib/servolib.py','right'])
+    return
+
+def reset_turn():
+    if left or right:
+        call(['python','./lib/servolib.py'])
+    return
+# ____________________________
+# -- special functions
+def turn_light(shine):
+    if shine:
+        GPIO.output(lightpin, False)
+    else:
+        GPIO.output(lightpin, True)
+    return
+
+def turn_rec(*record):
+    #if record:
+        #cam.start_recording('record.h264')
+        #return
+    #else:
+        #cam.stop_recording()
+        #return
+    if use_camera:
+        try:
+            cam.capture('image.jpg', resize=(192 * 2, 108 * 2))
+            cam.capture("./Images/image{}.jpg".format(str(datetime.now()).replace(':','_')))
+        except Exception as error:
+            print(error)
+
+def imgRefresh():
+    #turn_rec(True)
+    image = None
+    try:
+        image = pygame.image.load('image.jpg')
+        image = pygame.transform.scale(image, (192*2, 108*2))
+    except:
+        pass
+    screen.blit(image, (500, 10))
+    #gyro_output = gyro.getAllOut()
+    #rotation = gyro_output['rot']
+    if use_gyro_preview:
+        top_view = pygame.image.load('top_view.png')
+        # The scaling of the top_view Spider
+        scal_x = abs(int(192 * ((abs(rotation[0]) / 90) - 1)))
+        scal_y = abs(int(108 * ((abs(rotation[1]) / 90) - 1)) - 1)
+        top_view = pygame.transform.scale(top_view, (scal_x, scal_y))
+        screen.blit(top_view, (550 - (scal_x / 2), 300 - (scal_y / 2)))
+
+def printDriveData():
+    textPrint.print(screen,"")
+    textPrint.print(screen,"Sound Information")
+    textPrint.print(screen, "   Sound: {}".format(play))
+    textPrint.print(screen, "   Volume: {}".format(sound.get_volume()))
+    textPrint.print(screen, "Light: {}".format(light))
+    textPrint.print(screen, "Last Controller Input: {}".format((datetime.now()-lastContact).seconds))
+    #gyro_output=gyro.getAllOut()
+    #rotation=gyro_output['rot']
+    #textPrint.print(screen, "Rotation: X:{}; Y:{}".format(rotation[0],rotation[1]))
+    #acceleration = gyro_output['acc_sca']
+    #textPrint.print(screen, "Acceleration: X:{}; Y:{}; Z:{}".format(acceleration[0], acceleration[1],acceleration[2]))
+    distance=sensor.echo()
+    textPrint.print(screen, "Distance: {} cm".format(distance))
+    #if distance<40:
+    #    turn_rec()
+
+def doSubroutine():
+    if abs((datetime.now()-lastContact).seconds)==30:
+        print('Contact Lost')
+    imgRefresh()
+
+# ____________________________
+class TextPrint:
+    def __init__(self):
+        self.reset()
+        self.font = pygame.font.Font(None, 20)
+
+    def print(self, screen, textString):
+        textBitmap = self.font.render(textString, True, BLACK)
+        screen.blit(textBitmap, [self.x, self.y])
+        self.y += self.line_height
+        
+    def reset(self):
+        self.x = 10
+        self.y = 10
+        self.line_height = 15
+        
+    def indent(self):
+        self.x += 10
+        
+    def unindent(self):
+        self.x -= 10
+    
+pygame.init()
+
+# ________________________
+# -- music playback
+pygame.mixer.init()
+sound=pygame.mixer.Sound('./sounds/gasgasgas.wav')
+sound.set_volume(0.3)
+# ________________________
+ 
+# Set the width and height of the screen [width,height]
+size = [1000, 700]
+screen = pygame.display.set_mode(size)
+
+pygame.display.set_caption("SPYDER STEUERZENTRALE")
+
+# Loop until the user clicks the close button.
+done = False
+
+# Used to manage how fast the screen updates
+clock = pygame.time.Clock()
+
+# Initialize the joysticks
+pygame.joystick.init()
+    
+# Get ready to print
+textPrint = TextPrint()
+turn_rec(True)
+image=pygame.image.load('image.jpg')
+image=pygame.transform.scale(image,(192*2,108*2))
+count=0
+
+# -------- Main Program Loop -----------
+while done==False:
+    # EVENT PROCESSING STEP
+    for event in pygame.event.get(): # User did something
+        if event.type == pygame.QUIT: # If user clicked close
+            done=True # Flag that we are done so we exit this loop
+        
+        # Possible joystick actions: JOYAXISMOTION JOYBALLMOTION JOYBUTTONDOWN JOYBUTTONUP JOYHATMOTIO
+            
+ 
+    # DRAWING STEP
+    # First, clear the screen to white. Don't put other drawing commands
+    # above this, or they will be erased with this command.
+    screen.fill(WHITE)
+    textPrint.reset()
+
+    # Get count of joysticks
+    joystick_count = pygame.joystick.get_count()
+
+    textPrint.print(screen, "Number of joysticks: {}".format(joystick_count) )
+    textPrint.indent()
+    
+    # For each joystick:
+    for i in range(joystick_count):
+        joystick = pygame.joystick.Joystick(i)
+        joystick.init()
+    
+        textPrint.print(screen, "Joystick {}".format(i) )
+        textPrint.indent()
+    
+        # Get the name from the OS for the controller/joystick
+        #name = joystick.get_name()
+        #textPrint.print(screen, "Joystick name: {}".format(name) )
+        
+        # Usually axis run in pairs, up/down for one, and left/right for
+        # the other.
+        axes = joystick.get_numaxes()
+        textPrint.print(screen, "Number of axes: {}".format(axes) )
+        textPrint.indent()
+        
+        for i in range( axes ):
+            axis = joystick.get_axis( i )
+            textPrint.print(screen, "Axis {} value: {:>6.3f}".format(i, axis) )
+            if i==STOP and axis>0.1:
+                print('STOP')
+                drive_backw()
+                lastContact=datetime.now()
+            elif i==GAS and axis>0.1:
+                print('GAS')
+                if not forpress:
+                    drive_forw()
+                    forpress=True
+                lastContact=datetime.now()
+            elif i==GAS and axis<0.1:
+                if forpress:
+                    reset_dire()
+                    print('RESETDRIVE')
+                    forpress=False
+
+        textPrint.unindent()
+            
+        buttons = joystick.get_numbuttons()
+        textPrint.print(screen, "Number of buttons: {}".format(buttons) )
+        textPrint.indent()
+
+        for i in range( buttons ):
+            button = joystick.get_button( i )
+            textPrint.print(screen, "Button {:>2} value: {}".format(i,button) )
+            if button==1:
+                lastContact=datetime.now()
+            #if i==7 and button==1:
+            #    print('GAS')
+            #    drive_forw()
+            #elif i==6 and button==1:
+            #    print('STOP')
+            #    drive_backw()
+            if i==LIGHT and button==1 and not lpress:
+                light=not light
+                lpress=True
+                turn_light(light)
+                print('Light: {}'.format(light))
+            elif i==LIGHT and button==0:
+                lpress=False
+            elif i==MUSIC and button==1 and not play and not ppress:
+                ppress=True
+                sound.play()
+                play=True
+                print('Sound: {}'.format(play))
+            elif i==MUSIC and button==1 and play and not ppress:
+                ppress=True
+                sound.stop()
+                play=False
+                print('Sound: {}'.format(play))
+            elif i==MUSIC and button==0 and ppress:
+                ppress=False
+            elif i==VOLUP and button==1 and not voluppress:
+                sound.set_volume(sound.get_volume()+0.1)
+                print('Volume: {}'.format(sound.get_volume()))
+                voluppress=True
+            elif i==VOLUP and button==0:
+                voluppress=False
+            elif i== VOLDO and button==0:
+                voldopress=False
+            elif i==VOLDO and button==1 and not voldopress:
+                sound.set_volume(sound.get_volume()-0.1)
+                print('Volume: {}'.format(sound.get_volume()))
+                voldopress=True
+            elif i==RECSTART and button==1 and not recpress:
+                recording=not recording
+                turn_rec(recording)
+                print('Recording: {}'.format(recording))
+                recpress=True
+            elif i==RECSTART and button==0:
+                recpress=False
+                
+        textPrint.unindent()
+            
+        # Hat switch. All or nothing for direction, not like joysticks.
+        # Value comes back in an array.
+        hats = joystick.get_numhats()
+        textPrint.print(screen, "Number of hats: {}".format(hats) )
+        textPrint.indent()
+
+        for i in range( hats ):
+            hat = joystick.get_hat( i )
+            textPrint.print(screen, "Hat {} value: {}".format(i, str(hat)) )
+            if hat==(-1,0):
+                print('LEFT')
+                drive_left()
+                left=True
+                right=False
+                lastContact=datetime.now()
+            elif hat==(1,0):
+                print('RIGHT')
+                drive_right()
+                right=True
+                left=False
+                lastContact=datetime.now()
+            else:
+                reset_turn()
+                left=False
+                right=False
+        textPrint.unindent()
+        
+        textPrint.unindent()
+
+        printDriveData()
+        doSubroutine()
+
+    
+    # ALL CODE TO DRAW SHOULD GO ABOVE THIS COMMENT
+    
+    # Go ahead and update the screen with what we've drawn.
+    pygame.display.flip()
+
+    # Limit to 20 frames per second
+    clock.tick(20)
+    
+# Close the window and quit.
+# If you forget this line, the program will 'hang'
+# on exit if running from IDLE.
+sensor.clean()
+pygame.quit ()
diff --git a/gasgasgas.wav b/sounds/gasgasgas.wav
similarity index 100%
rename from gasgasgas.wav
rename to sounds/gasgasgas.wav