diff --git a/.gitignore b/.gitignore
index ee64372..325dc55 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,2 @@
-.idea/
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 *.pyc
diff --git a/.idea/für Robotototo.iml b/.idea/für Robotototo.iml
deleted file mode 100644
index 2be6dbc..0000000
--- a/.idea/für Robotototo.iml	
+++ /dev/null
@@ -1,12 +0,0 @@
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diff --git a/.idea/misc.xml b/.idea/misc.xml
deleted file mode 100644
index cb2632a..0000000
--- a/.idea/misc.xml
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diff --git a/.idea/modules.xml b/.idea/modules.xml
deleted file mode 100644
index aae3f5e..0000000
--- a/.idea/modules.xml
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diff --git a/.idea/vcs.xml b/.idea/vcs.xml
deleted file mode 100644
index 94a25f7..0000000
--- a/.idea/vcs.xml
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@@ -1,6 +0,0 @@
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diff --git a/.idea/workspace.xml b/.idea/workspace.xml
deleted file mode 100644
index ec35bbc..0000000
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-    <entry file="file://$PROJECT_DIR$/main.py">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="1632">
-          <caret line="96" column="34" lean-forward="false" selection-start-line="96" selection-start-column="34" selection-end-line="96" selection-end-column="34" />
-          <folding>
-            <element signature="e#0#19#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/motors.py" />
-    <entry file="file://$PROJECT_DIR$/ultrasonic.py" />
-    <entry file="file://$PROJECT_DIR$/gyro.py" />
-    <entry file="file://$PROJECT_DIR$/install.sh">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="17">
-          <caret line="1" column="29" lean-forward="false" selection-start-line="1" selection-start-column="29" selection-end-line="1" selection-end-column="29" />
-          <folding />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/ultrasonic.py" />
-    <entry file="file://$PROJECT_DIR$/motors.py" />
-    <entry file="file://$PROJECT_DIR$/gyro.py" />
-    <entry file="file://$PROJECT_DIR$/install.sh">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="34">
-          <caret line="2" column="26" lean-forward="false" selection-start-line="2" selection-start-column="26" selection-end-line="2" selection-end-column="26" />
-          <folding />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/motor.py" />
-    <entry file="file://$PROJECT_DIR$/main beta.py" />
-    <entry file="file://$PROJECT_DIR$/install.sh">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="0">
-          <caret line="0" column="0" lean-forward="false" selection-start-line="0" selection-start-column="0" selection-end-line="0" selection-end-column="0" />
-          <folding />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/28byj-48-driver.py" />
-    <entry file="file://$PROJECT_DIR$/main beta.py" />
-    <entry file="file://$PROJECT_DIR$/gyro.py" />
-    <entry file="file://$PROJECT_DIR$/motors.py" />
-    <entry file="file://$PROJECT_DIR$/install.sh">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="136">
-          <caret line="8" column="20" lean-forward="false" selection-start-line="8" selection-start-column="20" selection-end-line="8" selection-end-column="20" />
-          <folding />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/gyro_test.py" />
-    <entry file="file://$PROJECT_DIR$/ultrasonic_test.py" />
-    <entry file="file://$PROJECT_DIR$/ultrasonic.py" />
-    <entry file="file://$PROJECT_DIR$/motor.py" />
-    <entry file="file://$PROJECT_DIR$/stream.sh">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="0">
-          <caret line="0" column="44" lean-forward="false" selection-start-line="0" selection-start-column="44" selection-end-line="0" selection-end-column="44" />
-          <folding />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/servo_2.py" />
-    <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" />
-          <folding>
-            <element signature="e#0#19#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-  </component>
-</project>
\ No newline at end of file
diff --git a/Manuals etc/TODO.txt b/Manuals etc/TODO.txt
index 81ecd50..3d92a51 100644
--- a/Manuals etc/TODO.txt	
+++ b/Manuals etc/TODO.txt	
@@ -1,7 +1,7 @@
 --Motoren--
 3V an VCC, 5V an V+
-5V aus externer Quelle, nicht PI -> zu große Schwankungen durch Servomotor
-Schrittmotoren für Räder, Servomotoren für Zusatz
+5V aus externer Quelle, nicht PI -> zu große Schwankungen durch Servomotor
+Schrittmotoren für Räder, Servomotoren für Zusatz
 
 --Gyro--
 Messung von Lage und Beschleunigung
@@ -13,7 +13,7 @@ zur Erstellung von 3d Raumkarte (Experimentell)
 kann an Schrittmotor angeschlossen werden -> zur Drehung
 
 --Lautsprecher--
-Benötigt für Soundwiedergabe
+Benötigt für Soundwiedergabe
 
 --Controller--
-Input von Gerät zu Gerät verschieden
\ No newline at end of file
+Input von Gerät zu Gerät verschieden
\ No newline at end of file
diff --git a/lib/controllib.py b/lib/controllib.py
index a3398df..781b53b 100644
--- a/lib/controllib.py
+++ b/lib/controllib.py
@@ -1,13 +1,15 @@
-import pygame, os
+import os
+import pygame
+
 
 class Joystick():
 
     def __init__(self, navigator, light, configuration, camera):
-        #joystick
+        # joystick
         pygame.joystick.init()
         joystick = pygame.joystick.Joystick(0)
         joystick.init()
-        #sound
+        # sound
         pygame.mixer.init()
         sound = pygame.mixer.Sound('./sounds/gasgasgas.wav')
         sound.set_volume(0.3)
@@ -24,27 +26,27 @@ class Joystick():
         c = self.configuration
         nav = self.navigator
         dict = {}
-        #axes
+        # axes
         for i in range(self.joystick.get_numaxes()):
             axis = self.joystick.get_axis(i)
-            dict['Axis {}'.format(i)]=axis
+            dict['Axis {}'.format(i)] = axis
 
-            if i==c['GAS'] and axis>0.1:
+            if i == c['GAS'] and axis > 0.1:
                 nav.forward()
-            elif i==c['GAS'] and axis<0.1:
+            elif i == c['GAS'] and axis < 0.1:
                 nav.stop()
-        #buttons
+        # 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:
+            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:
+            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:
+            elif i == c['MUSIC'] and button == 1 and button not in self.pressed:
                 if self.splaying:
                     self.sound.stop()
                     self.splaying = False
@@ -52,35 +54,35 @@ class Joystick():
                     self.sound.play()
                     self.splaying = True
                 self.pressed.append(i)
-            elif i==c['MUSIC'] and button==0 and button in self.pressed:
+            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)
+            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:
+            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:
+            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:
+            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:
+            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:
+            elif i == c['REC'] and button == 0 and button in self.pressed:
                 self.pressed.remove(i)
 
-        #hats
+        # hats
         for i in range(self.joystick.get_numhats()):
             hat = self.joystick.get_hat(i)
             dict['Hat {}'.format(i)] = hat
 
-            if hat==(-1,0):
+            if hat == (-1, 0):
                 nav.left()
-            elif hat==(1,0):
+            elif hat == (1, 0):
                 nav.right()
             else:
                 nav.straight()
@@ -88,12 +90,11 @@ class Joystick():
         dict['Volume'] = self.sound.get_volume()
         return dict
 
-
     def _save_camimg(self):
         img = self.camera.image
         if os.path.isfile('image.jpg'):
-            count=0
+            count = 0
             while os.path.isfile('./images/img{}.jpg'.format(count)):
-                count+=1
+                count += 1
             os.rename('image.jpg', 'images/img{}.jpg'.format(count))
-        pygame.image.save(img, 'image.jpg')
\ No newline at end of file
+        pygame.image.save(img, 'image.jpg')
diff --git a/lib/graphiclib.py b/lib/graphiclib.py
index e056a3b..6c5ebb5 100644
--- a/lib/graphiclib.py
+++ b/lib/graphiclib.py
@@ -1,24 +1,25 @@
-import pygame, pygame.camera
+import pygame
+import pygame.camera
 from pygame import *
 
-def render_text_line(image, color, font, text, pos = (0,0)):
+
+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"):
+    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)
@@ -38,30 +39,30 @@ class List(pygame.sprite.Sprite):
         pygame.font.init()
         self.size = size
         self.image = pygame.Surface(self.size)
-        self.image.fill((0,0,0))
+        self.image.fill((0, 0, 0))
         self.rect = self.image.get_rect()
         self.rect.topleft = position
-        self.font = pygame.font.SysFont('Arial',25)
+        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):
+    def update(self):
         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]
+                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"""
 
@@ -77,5 +78,5 @@ class PiCamera(pygame.sprite.Sprite):
         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
+    def update(self):
+        self.camera.get_image(self.image)
diff --git a/lib/gyro.py b/lib/gyro.py
index 61ed378..460b6aa 100644
--- a/lib/gyro.py
+++ b/lib/gyro.py
@@ -10,15 +10,18 @@ bus = smbus.SMBus(1)
 address = 0x68
 bus.write_byte_data(address, power_mgmt_1, 0)
 
+
 def read_byte(reg):
     return bus.read_byte_data(address, reg)
 
+
 def read_word(reg):
     h = bus.read_byte_data(address, reg)
     l = bus.read_byte_data(address, reg + 1)
     value = (h << 8) + l
     return value
 
+
 def read_word_2c(reg):
     val = read_word(reg)
     if (val >= 0x8000):
@@ -26,31 +29,35 @@ def read_word_2c(reg):
     else:
         return val
 
+
 def dist(a, b):
     return math.sqrt((a * a) + (b * b))
 
+
 def get_y_rotation(x, y, z):
     radians = math.atan2(x, dist(y, z))
     return -math.degrees(radians)
 
+
 def get_x_rotation(x, y, z):
     radians = math.atan2(y, dist(x, z))
     return math.degrees(radians)
 
-def getAllOut():
-    gyroskop_xout = read_word_2c(0x43)
-    gyroskop_yout = read_word_2c(0x45)
-    gyroskop_zout = read_word_2c(0x47)
-
-    beschleunigung_xout = read_word_2c(0x3b)
-    beschleunigung_yout = read_word_2c(0x3d)
-    beschleunigung_zout = read_word_2c(0x3f)
-
-    beschleunigung_xout_skaliert = round(beschleunigung_xout / 16384.0,3)
-    beschleunigung_yout_skaliert = round(beschleunigung_yout / 16384.0,3)
-    beschleunigung_zout_skaliert = round(beschleunigung_zout / 16384.0,3)
 
-    x_rotation = round(get_x_rotation(beschleunigung_xout_skaliert, beschleunigung_yout_skaliert, beschleunigung_zout_skaliert),0)
-    y_rotation = round(get_y_rotation(beschleunigung_xout_skaliert, beschleunigung_yout_skaliert, beschleunigung_zout_skaliert),0)
-
-    return {'acc':[beschleunigung_xout,beschleunigung_yout,beschleunigung_zout], 'acc_sca':[beschleunigung_xout_skaliert,beschleunigung_yout_skaliert,beschleunigung_zout_skaliert],'rot':[x_rotation,y_rotation]}
\ No newline at end of file
+def getAllOut():
+    acceleration_xout = read_word_2c(0x3b)
+    acceleration_yout = read_word_2c(0x3d)
+    acceleration_zout = read_word_2c(0x3f)
+
+    acceleration_xout_scaled = round(acceleration_xout / 16384.0, 3)
+    acceleration_yout_scaled = round(acceleration_yout / 16384.0, 3)
+    acceleration_zout_scaled = round(acceleration_zout / 16384.0, 3)
+
+    x_rotation = round(
+        get_x_rotation(acceleration_xout_scaled, acceleration_yout_scaled, acceleration_zout_scaled), 0)
+    y_rotation = round(
+        get_y_rotation(acceleration_xout_scaled, acceleration_yout_scaled, acceleration_zout_scaled), 0)
+
+    return {'acc': [acceleration_xout, acceleration_yout, acceleration_zout],
+            'acc_sca': [acceleration_xout_scaled, acceleration_yout_scaled, acceleration_zout_scaled],
+            'rot': [x_rotation, y_rotation]}
diff --git a/lib/hardwarelib.py b/lib/hardwarelib.py
index 513b06f..557ab56 100644
--- a/lib/hardwarelib.py
+++ b/lib/hardwarelib.py
@@ -2,6 +2,7 @@ from subprocess import call, check_output
 from lib import ultrasonic
 import RPi.GPIO as GPIO
 
+
 class Navigator():
     """Forward Motor with relais, Steering with servo"""
 
@@ -11,29 +12,24 @@ class Navigator():
         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)
 
@@ -47,16 +43,13 @@ class Light:
         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)
 
@@ -65,15 +58,13 @@ class Ultrasonic:
     """A ultrasonic sensor"""
 
     def __init__(self, trigger, echo):
-        self.sensor =ultrasonic.Sensor()
+        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()
 
@@ -82,12 +73,11 @@ class Temperature:
     """A temperature sensor"""
 
     def get_Temperature(self):
-        outp = check_output(['python','-u','./lib/thermolib.py']).decode('ISO-8859-1')
+        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')
+        outp = check_output(['python', '-u', './lib/thermolib.py']).decode('ISO-8859-1')
         temp, hum = outp.split('|')
-        return hum
\ No newline at end of file
+        return hum
diff --git a/lib/motors.py b/lib/motors.py
index 5b1c6bd..c2dead7 100644
--- a/lib/motors.py
+++ b/lib/motors.py
@@ -36,7 +36,6 @@ class Motor(object):
         GPIO.output(self.P3, 0)
         GPIO.output(self.P4, 0)
 
-
     def move_to(self, angle):
         """Take the shortest route to a particular angle (degrees)."""
         # Make sure there is a 1:1 mapping between angle and stepper angle
@@ -45,7 +44,7 @@ class Motor(object):
         steps = (steps % self.steps_per_rev)
         if steps > self.steps_per_rev / 2:
             steps -= self.steps_per_rev
-            print ("moving " + repr(steps) + " steps")
+            print("moving " + repr(steps) + " steps")
             self._move_acw(-steps / 8)
         else:
             print("moving " + repr(steps) + " steps")
@@ -53,7 +52,6 @@ class Motor(object):
         # self.step_angle = target_step_angle #in case you want to keep track of the position
         self.step_angle = 0
 
-
     def _move_acw(self, big_steps):
         self.clean_pins_up()
         for i in range(big_steps):
@@ -75,7 +73,6 @@ class Motor(object):
             sleep(self._T)
         self.clean_pins_up()
 
-
     def _move_cw(self, big_steps):
         GPIO.output(self.P1, 0)
         GPIO.output(self.P2, 0)
@@ -100,18 +97,19 @@ class Motor(object):
             sleep(self._T)
         self.clean_pins_up()
 
+
 if __name__ == "__main__":
     GPIO.cleanup()
     GPIO.setmode(GPIO.BCM)
     m_l = Motor([6, 13, 19, 26])
-    #m_r = Motor([10, 9, 11, 25])
+    # m_r = Motor([10, 9, 11, 25])
     m_l.rpm = float(sys.argv[1])
-    #m_r.rpm = float(sys.argv[1])
-    print ("Pause in seconds: " + repr(m_l._T))
+    # m_r.rpm = float(sys.argv[1])
+    print("Pause in seconds: " + repr(m_l._T))
     i = 1
     while i < 5:
         start_new_thread(m_l.move_to, (int(sys.argv[2]),))
-        #start_new_thread(m_r.move_to, (int(sys.argv[3]),))
+        # start_new_thread(m_r.move_to, (int(sys.argv[3]),))
         sleep(2)
         i = i + 1
-    GPIO.cleanup()
\ No newline at end of file
+    GPIO.cleanup()
diff --git a/lib/servolib.py b/lib/servolib.py
index d6dfead..dfa1095 100644
--- a/lib/servolib.py
+++ b/lib/servolib.py
@@ -4,20 +4,24 @@ import sys
 pwm = ServoLib.PCA9685()
 pwm.set_pwm_freq(60)
 
+
 def left():
-    pwm.set_pwm(0,0,261)
+    pwm.set_pwm(0, 0, 261)
+
 
 def right():
-    pwm.set_pwm(0,0,479)
+    pwm.set_pwm(0, 0, 479)
+
 
 def reset():
-    pwm.set_pwm(0,0,370)
+    pwm.set_pwm(0, 0, 370)
+
 
 if __name__ == '__main__':
-    args=sys.argv
+    args = sys.argv
     if 'left' in args:
         left()
     elif 'right' in args:
         right()
     else:
-        reset()
\ No newline at end of file
+        reset()
diff --git a/lib/thermolib.py b/lib/thermolib.py
index 1e85e3d..a1aa8a5 100644
--- a/lib/thermolib.py
+++ b/lib/thermolib.py
@@ -1,8 +1,11 @@
 import Adafruit_DHT
 
+
 def main():
     humidity, temperature = Adafruit_DHT.read_retry(11, 14)
-    print '{}|{}'.format(temperature, humidity)
+    print
+    '{}|{}'.format(temperature, humidity)
+
 
 if __name__ == '__main__':
-    main()
\ No newline at end of file
+    main()
diff --git a/lib/ultrasonic.py b/lib/ultrasonic.py
index c73a4f1..c8836dc 100644
--- a/lib/ultrasonic.py
+++ b/lib/ultrasonic.py
@@ -3,14 +3,15 @@ import time
 
 GPIO.setmode(GPIO.BOARD)
 
+
 class Sensor(object):
-    def init(self,TRIG,ECHO):
-        self.TRIGGER=TRIG
-        self.ECHO=ECHO
-        self.lastValues=[1,1,1,1,1,1,1,1,1,1]
-        GPIO.setup(self.TRIGGER,GPIO.OUT)
-        GPIO.setup(self.ECHO,GPIO.IN)
-        GPIO.output(self.TRIGGER,False)
+    def init(self, TRIG, ECHO):
+        self.TRIGGER = TRIG
+        self.ECHO = ECHO
+        self.lastValues = [1, 1, 1, 1, 1, 1, 1, 1, 1, 1]
+        GPIO.setup(self.TRIGGER, GPIO.OUT)
+        GPIO.setup(self.ECHO, GPIO.IN)
+        GPIO.output(self.TRIGGER, False)
         print('Waiting for Sensor to settle')
         time.sleep(2)
 
@@ -18,30 +19,28 @@ class Sensor(object):
         GPIO.output(self.TRIGGER, True)
         time.sleep(0.00001)
         GPIO.output(self.TRIGGER, False)
-        abs_start=time.time()
-        pulse_start=time.time()
+        abs_start = time.time()
 
-        while GPIO.input(self.ECHO)==0 and (time.time()-abs_start)<0.02:
-            #print(time.time()-abs_start)
+        while GPIO.input(self.ECHO) == 0 and (time.time() - abs_start) < 0.02:
+            # print(time.time()-abs_start)
             pass
-        pulse_start=time.time()
-        pulse_end=time.time()
+        pulse_start = time.time()
 
-        while GPIO.input(self.ECHO)==1 and (time.time()-abs_start)<0.02:
-            #print(time.time()-abs_start)
+        while GPIO.input(self.ECHO) == 1 and (time.time() - abs_start) < 0.02:
+            # print(time.time()-abs_start)
             pass
-        pulse_end=time.time()
+        pulse_end = time.time()
 
-        pulse_duration=pulse_end-pulse_start
+        pulse_duration = pulse_end - pulse_start
 
-        distance=pulse_duration*17150
-        distance=round(distance,2)
+        distance = pulse_duration * 17150
+        distance = round(distance, 2)
         self.lastValues.append(distance)
         self.lastValues = self.lastValues[1:]
-        distance=round((sum(self.lastValues))/(len(self.lastValues)),2)
-        #print(self.lastValues)
-        #print("Distance: {}".format(distance))
+        distance = round((sum(self.lastValues)) / (len(self.lastValues)), 2)
+        # print(self.lastValues)
+        # print("Distance: {}".format(distance))
         return distance
 
     def clean(self):
-        GPIO.cleanup()
\ No newline at end of file
+        GPIO.cleanup()
diff --git a/main.py b/main.py
index 144d49f..fbce7bf 100644
--- a/main.py
+++ b/main.py
@@ -1,28 +1,30 @@
-import pygame, time
+import pygame
+import time
 from lib import graphiclib, hardwarelib, controllib
 
 configuration = {
-    'GAS':5,
-    'STOP':2,
-    'MUSIC':1,
-    'LIGHT':0,
-    'VOLIN':5,
-    'VOLDE':4,
-    'REC':3
+    '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)
+    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))
+    # pygame stuff
+    screen = graphiclib.Screen(size=(1000, 1000))
     all_sprites = pygame.sprite.RenderUpdates()
-    list = graphiclib.List((0,0),(500,1000))
+    list = graphiclib.List((0, 0), (500, 1000))
     all_sprites.add(list)
     all_sprites.add(camera)
     clock = pygame.time.Clock()
@@ -38,9 +40,9 @@ def main():
         list.set_dict(dict)
         all_sprites.update()
         update_rects = all_sprites.draw(screen.screen)
-        screen.refresh(rectangles= update_rects)
+        screen.refresh(rectangles=update_rects)
     pygame.quit()
 
 
 if __name__ == '__main__':
-    main()
\ No newline at end of file
+    main()
diff --git a/main_old.py b/main_old.py
deleted file mode 100644
index d8a34db..0000000
--- a/main_old.py
+++ /dev/null
@@ -1,366 +0,0 @@
-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/stream.sh b/stream.sh
index a918f48..66a2cd6 100644
--- a/stream.sh
+++ b/stream.sh
@@ -1 +1,2 @@
+#!/usr/bin/env bash
 raspivid -o - -t 0 -hf -w 640 -h 360 -fps 25 | cvlc -vvv stream:///dev/stdin --sout '#rtp{sdp=rtsp://:8554}' :demux=h264
\ No newline at end of file
diff --git a/lib/gyro_test.py b/testscripts/gyro_test.py
similarity index 98%
rename from lib/gyro_test.py
rename to testscripts/gyro_test.py
index 22c5f66..769d607 100644
--- a/lib/gyro_test.py
+++ b/testscripts/gyro_test.py
@@ -1,5 +1,6 @@
 from lib import gyro
 import time
+
 while True:
     print(gyro.getAllOut()['rot'])
     time.sleep(1)
diff --git a/lib/motor.py b/testscripts/motor_test.py
similarity index 78%
rename from lib/motor.py
rename to testscripts/motor_test.py
index edb2e67..1e10205 100644
--- a/lib/motor.py
+++ b/testscripts/motor_test.py
@@ -1,131 +1,139 @@
+import time
+
 import RPi.GPIO as GPIO
-import sys, time
+
 GPIO.setmode(GPIO.BCM)
 GPIO.setwarnings(False)
 
-def full_step(phase,pins):
+
+def full_step(phase, pins):
     pin1, pin2, pin3, pin4 = pins
 
-    if phase==0:
+    if phase == 0:
         GPIO.output(pin1, 0)
         GPIO.output(pin2, 0)
         GPIO.output(pin3, 0)
         GPIO.output(pin4, 0)
 
-    if phase==1:
+    if phase == 1:
         GPIO.output(pin1, 1)
         GPIO.output(pin2, 1)
         GPIO.output(pin3, 0)
         GPIO.output(pin4, 0)
 
-    if phase==2:
+    if phase == 2:
         GPIO.output(pin1, 0)
         GPIO.output(pin2, 1)
         GPIO.output(pin3, 1)
         GPIO.output(pin4, 0)
 
-    if phase==3:
+    if phase == 3:
         GPIO.output(pin1, 0)
         GPIO.output(pin2, 0)
         GPIO.output(pin3, 1)
         GPIO.output(pin4, 1)
 
-    if phase==4:
+    if phase == 4:
         GPIO.output(pin1, 1)
         GPIO.output(pin2, 0)
         GPIO.output(pin3, 0)
         GPIO.output(pin4, 1)
 
-def half_step(phase,pins):
+
+def half_step(phase, pins):
     pin1, pin2, pin3, pin4 = pins
 
-    if phase==0:
+    if phase == 0:
         GPIO.output(pin1, 0)
         GPIO.output(pin2, 0)
         GPIO.output(pin3, 0)
         GPIO.output(pin4, 0)
 
-    if phase==1:
+    if phase == 1:
         GPIO.output(pin1, 1)
         GPIO.output(pin2, 0)
         GPIO.output(pin3, 0)
         GPIO.output(pin4, 0)
 
-    if phase==2:
+    if phase == 2:
         GPIO.output(pin1, 1)
         GPIO.output(pin2, 1)
         GPIO.output(pin3, 0)
         GPIO.output(pin4, 0)
 
-    if phase==3:
+    if phase == 3:
         GPIO.output(pin1, 0)
         GPIO.output(pin2, 1)
         GPIO.output(pin3, 0)
         GPIO.output(pin4, 0)
 
-    if phase==4:
+    if phase == 4:
         GPIO.output(pin1, 0)
         GPIO.output(pin2, 1)
         GPIO.output(pin3, 1)
         GPIO.output(pin4, 0)
 
-    if phase==5:
+    if phase == 5:
         GPIO.output(pin1, 0)
         GPIO.output(pin2, 0)
         GPIO.output(pin3, 1)
         GPIO.output(pin4, 0)
 
-    if phase==6:
+    if phase == 6:
         GPIO.output(pin1, 0)
         GPIO.output(pin2, 0)
         GPIO.output(pin3, 1)
         GPIO.output(pin4, 1)
 
-    if phase==7:
+    if phase == 7:
         GPIO.output(pin1, 0)
         GPIO.output(pin2, 0)
         GPIO.output(pin3, 0)
         GPIO.output(pin4, 1)
 
-    if phase==8:
+    if phase == 8:
         GPIO.output(pin1, 1)
         GPIO.output(pin2, 0)
         GPIO.output(pin3, 0)
         GPIO.output(pin4, 1)
 
+
 def full_phase(pins):
-    #order=[1,2,3,4]
-    order=[4,3,2,1]
+    # order=[1,2,3,4]
+    order = [4, 3, 2, 1]
     print("Moving in {}-order".format(order))
     for i in order:
         full_step(i, pins)
         time.sleep(0.005)
 
+
 def half_phase(pins):
-    for i in range(0,8):
-        half_step(i,pins)
+    for i in range(0, 8):
+        half_step(i, pins)
         time.sleep(0.0025)
 
+
 def forward(pins):
     half_phase(pins)
 
+
 def backward(pins):
     (pins[0], pins[1], pins[2], pins[3]) = (pins[1], pins[0], pins[2], pins[3])
     half_phase(pins)
 
-if __name__=='__main__':
-    pins=[6, 13, 19, 26]
+
+if __name__ == '__main__':
+    pins = [6, 13, 19, 26]
     for pin in pins:
         GPIO.setup(pin, GPIO.OUT)
     while True:
         try:
-            start=time.time()
-            while(time.time()<start+10):
+            start = time.time()
+            while (time.time() < start + 10):
                 forward(pins)
-            start=time.time()
-            while(time.time()<start+10):
+            start = time.time()
+            while (time.time() < start + 10):
                 backward(pins)
         except KeyboardInterrupt:
             break
     GPIO.cleanup()
-
diff --git a/lib/ultrasonic_test.py b/testscripts/ultrasonic_test.py
similarity index 55%
rename from lib/ultrasonic_test.py
rename to testscripts/ultrasonic_test.py
index 3d8df4f..a12d4cc 100644
--- a/lib/ultrasonic_test.py
+++ b/testscripts/ultrasonic_test.py
@@ -1,7 +1,7 @@
 from lib import ultrasonic
 
-sensor= ultrasonic.Sensor()
-sensor.init(11,7)
+sensor = ultrasonic.Sensor()
+sensor.init(11, 7)
 print('Beginn der Messung')
 print(sensor.echo())
-sensor.clean()
\ No newline at end of file
+sensor.clean()