diff --git a/.idea/für Robotototo.iml b/.idea/für Robotototo.iml
index 1d3bd13..2be6dbc 100644
--- a/.idea/für Robotototo.iml	
+++ b/.idea/für Robotototo.iml	
@@ -2,7 +2,7 @@
 <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="jdk" jdkName="Python 3.6 (spydian)" jdkType="Python SDK" />
     <orderEntry type="sourceFolder" forTests="false" />
   </component>
   <component name="TestRunnerService">
diff --git a/.idea/misc.xml b/.idea/misc.xml
index 4f4d2c4..cb2632a 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 3.6.4 (~/anaconda3/bin/python)" project-jdk-type="Python SDK" />
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.6 (spydian)" project-jdk-type="Python SDK" />
   <component name="masterDetails">
     <states>
       <state key="ScopeChooserConfigurable.UI">
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
new file mode 100644
index 0000000..94a25f7
--- /dev/null
+++ b/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 2f1f596..fb14d24 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 beforePath="" afterPath="$PROJECT_DIR$/.idea/vcs.xml" />
+      <change beforePath="$PROJECT_DIR$/.idea/für Robotototo.iml" afterPath="$PROJECT_DIR$/.idea/für Robotototo.iml" />
+      <change beforePath="$PROJECT_DIR$/.idea/misc.xml" afterPath="$PROJECT_DIR$/.idea/misc.xml" />
+      <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" afterPath="$PROJECT_DIR$/.idea/workspace.xml" />
+    </list>
     <option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
     <option name="TRACKING_ENABLED" value="true" />
     <option name="SHOW_DIALOG" value="false" />
@@ -17,69 +22,19 @@
       <file leaf-file-name="install.sh" pinned="false" current-in-tab="false">
         <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" />
+            <state relative-caret-position="119">
+              <caret line="7" column="20" lean-forward="false" selection-start-line="7" selection-start-column="20" selection-end-line="7" selection-end-column="20" />
               <folding />
             </state>
           </provider>
         </entry>
       </file>
-      <file leaf-file-name="servo_2.py" pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/servo_2.py">
-          <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="102">
-              <caret line="7" column="22" lean-forward="false" selection-start-line="7" selection-start-column="22" selection-end-line="7" selection-end-column="22" />
-              <folding>
-                <element signature="e#0#35#0" expanded="true" />
-              </folding>
-            </state>
-          </provider>
-        </entry>
-      </file>
-      <file leaf-file-name="thermo.py" pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/thermo.py">
-          <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="68">
-              <caret line="5" column="58" lean-forward="false" selection-start-line="5" selection-start-column="58" selection-end-line="5" selection-end-column="58" />
-              <folding>
-                <element signature="e#0#10#0" expanded="true" />
-              </folding>
-            </state>
-          </provider>
-        </entry>
-      </file>
-      <file leaf-file-name="motors.py" pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/motors.py">
-          <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="1734">
-              <caret line="105" column="31" lean-forward="false" selection-start-line="105" selection-start-column="16" selection-end-line="105" selection-end-column="31" />
-              <folding>
-                <element signature="e#0#22#0" expanded="true" />
-              </folding>
-            </state>
-          </provider>
-        </entry>
-      </file>
-      <file leaf-file-name="motor.py" pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/motor.py">
-          <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="1921">
-              <caret line="114" column="0" lean-forward="false" selection-start-line="114" selection-start-column="0" selection-end-line="114" selection-end-column="0" />
-              <folding>
-                <element signature="e#0#23#0" expanded="true" />
-              </folding>
-            </state>
-          </provider>
-        </entry>
-      </file>
       <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="16" lean-forward="false" selection-start-line="20" selection-start-column="16" selection-end-line="20" selection-end-column="16" />
-              <folding>
-                <element signature="e#0#41#0" expanded="true" />
-              </folding>
+            <state relative-caret-position="2856">
+              <caret line="171" column="0" lean-forward="false" selection-start-line="171" selection-start-column="0" selection-end-line="171" selection-end-column="0" />
+              <folding />
             </state>
           </provider>
         </entry>
@@ -94,40 +49,6 @@
           </provider>
         </entry>
       </file>
-      <file leaf-file-name="gyro_test.py" pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/gyro_test.py">
-          <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="34">
-              <caret line="3" column="31" lean-forward="false" selection-start-line="3" selection-start-column="31" selection-end-line="3" selection-end-column="31" />
-              <folding>
-                <element signature="e#0#11#0" expanded="true" />
-              </folding>
-            </state>
-          </provider>
-        </entry>
-      </file>
-      <file leaf-file-name="ultrasonic.py" pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/ultrasonic.py">
-          <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="493">
-              <caret line="30" column="13" lean-forward="false" selection-start-line="30" selection-start-column="13" selection-end-line="30" selection-end-column="13" />
-              <folding>
-                <element signature="e#0#23#0" expanded="true" />
-              </folding>
-            </state>
-          </provider>
-        </entry>
-      </file>
-      <file leaf-file-name="ultrasonic_test.py" pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/ultrasonic_test.py">
-          <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="85">
-              <caret line="5" column="14" lean-forward="false" selection-start-line="5" selection-start-column="14" selection-end-line="5" selection-end-column="14" />
-              <folding />
-            </state>
-          </provider>
-        </entry>
-      </file>
     </leaf>
   </component>
   <component name="FileTemplateManagerImpl">
@@ -137,6 +58,9 @@
       </list>
     </option>
   </component>
+  <component name="Git.Settings">
+    <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
+  </component>
   <component name="IdeDocumentHistory">
     <option name="CHANGED_PATHS">
       <list>
@@ -194,18 +118,18 @@
     </navigator>
     <panes>
       <pane id="Scratches" />
-      <pane id="Scope" />
       <pane id="ProjectPane">
         <subPane>
           <expand>
             <path>
-              <item name="SPYDER_CONTROL" type="b2602c69:ProjectViewProjectNode" />
-              <item name="SPYDER_CONTROL" type="462c0819:PsiDirectoryNode" />
+              <item name="spydian" type="b2602c69:ProjectViewProjectNode" />
+              <item name="spydian" type="462c0819:PsiDirectoryNode" />
             </path>
           </expand>
           <select />
         </subPane>
       </pane>
+      <pane id="Scope" />
     </panes>
   </component>
   <component name="PropertiesComponent">
@@ -225,6 +149,42 @@
     </option>
   </component>
   <component name="RunManager" selected="Python.main beta">
+    <configuration name="main beta" type="PythonConfigurationType" factoryName="Python" temporary="true">
+      <option name="INTERPRETER_OPTIONS" value="" />
+      <option name="PARENT_ENVS" value="true" />
+      <envs>
+        <env name="PYTHONUNBUFFERED" value="1" />
+      </envs>
+      <option name="SDK_HOME" value="" />
+      <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+      <option name="IS_MODULE_SDK" value="true" />
+      <option name="ADD_CONTENT_ROOTS" value="true" />
+      <option name="ADD_SOURCE_ROOTS" value="true" />
+      <module name="für Robotototo" />
+      <option name="SCRIPT_NAME" value="$PROJECT_DIR$/main beta.py" />
+      <option name="PARAMETERS" value="" />
+      <option name="SHOW_COMMAND_LINE" value="false" />
+      <option name="EMULATE_TERMINAL" value="false" />
+      <option name="MODULE_MODE" value="false" />
+    </configuration>
+    <configuration name="motor" type="PythonConfigurationType" factoryName="Python" temporary="true">
+      <option name="INTERPRETER_OPTIONS" value="" />
+      <option name="PARENT_ENVS" value="true" />
+      <envs>
+        <env name="PYTHONUNBUFFERED" value="1" />
+      </envs>
+      <option name="SDK_HOME" value="" />
+      <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+      <option name="IS_MODULE_SDK" value="true" />
+      <option name="ADD_CONTENT_ROOTS" value="true" />
+      <option name="ADD_SOURCE_ROOTS" value="true" />
+      <module name="für Robotototo" />
+      <option name="SCRIPT_NAME" value="$PROJECT_DIR$/motor.py" />
+      <option name="PARAMETERS" value="" />
+      <option name="SHOW_COMMAND_LINE" value="false" />
+      <option name="EMULATE_TERMINAL" value="false" />
+      <option name="MODULE_MODE" value="false" />
+    </configuration>
     <configuration default="true" type="PythonConfigurationType" factoryName="Python">
       <option name="INTERPRETER_OPTIONS" value="" />
       <option name="PARENT_ENVS" value="true" />
@@ -288,41 +248,6 @@
       <option name="_new_additionalArguments" value="&quot;&quot;" />
       <option name="_new_target" value="&quot;.&quot;" />
       <option name="_new_targetType" value="&quot;PATH&quot;" />
-      <method />
-    </configuration>
-    <configuration name="main beta" type="PythonConfigurationType" factoryName="Python" temporary="true">
-      <option name="INTERPRETER_OPTIONS" value="" />
-      <option name="PARENT_ENVS" value="true" />
-      <envs>
-        <env name="PYTHONUNBUFFERED" value="1" />
-      </envs>
-      <option name="SDK_HOME" value="" />
-      <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
-      <option name="IS_MODULE_SDK" value="true" />
-      <option name="ADD_CONTENT_ROOTS" value="true" />
-      <option name="ADD_SOURCE_ROOTS" value="true" />
-      <module name="für Robotototo" />
-      <option name="SCRIPT_NAME" value="$PROJECT_DIR$/main beta.py" />
-      <option name="PARAMETERS" value="" />
-      <option name="SHOW_COMMAND_LINE" value="false" />
-      <option name="EMULATE_TERMINAL" value="false" />
-    </configuration>
-    <configuration name="motor" type="PythonConfigurationType" factoryName="Python" temporary="true">
-      <option name="INTERPRETER_OPTIONS" value="" />
-      <option name="PARENT_ENVS" value="true" />
-      <envs>
-        <env name="PYTHONUNBUFFERED" value="1" />
-      </envs>
-      <option name="SDK_HOME" value="" />
-      <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
-      <option name="IS_MODULE_SDK" value="true" />
-      <option name="ADD_CONTENT_ROOTS" value="true" />
-      <option name="ADD_SOURCE_ROOTS" value="true" />
-      <module name="für Robotototo" />
-      <option name="SCRIPT_NAME" value="$PROJECT_DIR$/motor.py" />
-      <option name="PARAMETERS" value="" />
-      <option name="SHOW_COMMAND_LINE" value="false" />
-      <option name="EMULATE_TERMINAL" value="false" />
     </configuration>
     <list size="2">
       <item index="0" class="java.lang.String" itemvalue="Python.main beta" />
@@ -338,6 +263,9 @@
   <component name="ShelveChangesManager" show_recycled="false">
     <option name="remove_strategy" value="false" />
   </component>
+  <component name="SvnConfiguration">
+    <configuration />
+  </component>
   <component name="TaskManager">
     <task active="true" id="Default" summary="Default task">
       <changelist id="49388e57-2b9e-468a-b880-1d7fb243112d" name="Default" comment="" />
@@ -358,19 +286,18 @@
     </todo-panel>
   </component>
   <component name="ToolWindowManager">
-    <frame x="0" y="34" width="1366" height="734" extended-state="6" />
+    <frame x="-8" y="-8" width="1936" height="1096" extended-state="6" />
     <layout>
-      <window_info id="Project" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="true" show_stripe_button="true" weight="0.18008785" sideWeight="0.5" order="0" side_tool="false" content_ui="combo" />
+      <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="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="Version Control" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="false" weight="0.33" sideWeight="0.5" order="10" side_tool="false" content_ui="tabs" />
+      <window_info id="Version Control" 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="10" side_tool="false" content_ui="tabs" />
       <window_info id="Python Console" 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="8" side_tool="false" 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" />
       <window_info id="Structure" active="false" anchor="left" 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="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="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="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="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" />
@@ -378,6 +305,7 @@
       <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">
@@ -397,31 +325,9 @@
     <watches-manager />
   </component>
   <component name="editorHistoryManager">
-    <entry file="file://$PROJECT_DIR$/ultrasonic.py">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="493">
-          <caret line="30" column="13" lean-forward="false" selection-start-line="30" selection-start-column="13" selection-end-line="30" selection-end-column="13" />
-          <folding>
-            <element signature="e#0#23#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/ultrasonic_test.py">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="85">
-          <caret line="5" column="14" lean-forward="true" selection-start-line="5" selection-start-column="14" selection-end-line="5" selection-end-column="14" />
-          <folding />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/gyro.py">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="884">
-          <caret line="53" column="129" lean-forward="false" selection-start-line="53" selection-start-column="129" selection-end-line="53" selection-end-column="129" />
-        </state>
-      </provider>
-    </entry>
+    <entry file="file://$PROJECT_DIR$/ultrasonic.py" />
+    <entry file="file://$PROJECT_DIR$/ultrasonic_test.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="0">
@@ -430,23 +336,12 @@
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/motors.py">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="663">
-          <caret line="39" column="25" lean-forward="false" selection-start-line="39" selection-start-column="25" selection-end-line="39" selection-end-column="25" />
-          <folding>
-            <element signature="e#0#22#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
+    <entry file="file://$PROJECT_DIR$/motors.py" />
     <entry file="file://$PROJECT_DIR$/main.py">
       <provider selected="true" editor-type-id="text-editor">
         <state relative-caret-position="1462">
           <caret line="86" column="12" lean-forward="false" selection-start-line="86" selection-start-column="12" selection-end-line="86" selection-end-column="12" />
-          <folding>
-            <element signature="e#0#41#0" expanded="true" />
-          </folding>
+          <folding />
         </state>
       </provider>
     </entry>
@@ -458,41 +353,10 @@
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/gyro_test.py">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="34">
-          <caret line="3" column="31" lean-forward="false" selection-start-line="3" selection-start-column="31" selection-end-line="3" selection-end-column="31" />
-          <folding>
-            <element signature="e#0#11#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/ultrasonic.py">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="493">
-          <caret line="30" column="13" lean-forward="false" selection-start-line="30" selection-start-column="13" selection-end-line="30" selection-end-column="13" />
-          <folding>
-            <element signature="e#0#23#0" expanded="true" />
-          </folding>
-        </state>
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