diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index d7fb9dd..885147c 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -2,8 +2,9 @@
 <project version="4">
   <component name="ChangeListManager">
     <list default="true" id="49388e57-2b9e-468a-b880-1d7fb243112d" name="Default" comment="">
-      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/lib/controllib.py" afterPath="$PROJECT_DIR$/lib/controllib.py" />
-      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/lib/graphiclib.py" afterPath="$PROJECT_DIR$/lib/graphiclib.py" />
+      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/install.sh" afterPath="$PROJECT_DIR$/install.sh" />
+      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/lib/hardwarelib.py" afterPath="$PROJECT_DIR$/lib/hardwarelib.py" />
+      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/main.py" afterPath="$PROJECT_DIR$/main.py" />
     </list>
     <option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
     <option name="TRACKING_ENABLED" value="true" />
@@ -20,8 +21,8 @@
       <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="102">
+              <caret line="6" column="33" lean-forward="false" selection-start-line="6" selection-start-column="33" selection-end-line="6" selection-end-column="33" />
               <folding />
             </state>
           </provider>
@@ -30,8 +31,8 @@
       <file leaf-file-name="main.py" pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/main.py">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="321">
-              <caret line="37" column="30" lean-forward="false" selection-start-line="37" selection-start-column="30" selection-end-line="37" selection-end-column="30" />
+            <state relative-caret-position="272">
+              <caret line="28" column="18" lean-forward="false" selection-start-line="28" selection-start-column="18" selection-end-line="28" selection-end-column="18" />
               <folding>
                 <element signature="e#0#19#0" expanded="true" />
               </folding>
@@ -51,21 +52,21 @@
           </provider>
         </entry>
       </file>
-      <file leaf-file-name="controllib.py" pinned="false" current-in-tab="true">
+      <file leaf-file-name="controllib.py" pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/lib/controllib.py">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="266">
+            <state relative-caret-position="321">
               <caret line="42" column="38" lean-forward="true" selection-start-line="42" selection-start-column="38" selection-end-line="42" selection-end-column="38" />
               <folding />
             </state>
           </provider>
         </entry>
       </file>
-      <file leaf-file-name="hardwarelib.py" pinned="false" current-in-tab="false">
+      <file leaf-file-name="hardwarelib.py" pinned="false" current-in-tab="true">
         <entry file="file://$PROJECT_DIR$/lib/hardwarelib.py">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="306">
-              <caret line="48" column="35" lean-forward="true" selection-start-line="48" selection-start-column="35" selection-end-line="48" selection-end-column="35" />
+            <state relative-caret-position="185">
+              <caret line="70" column="35" lean-forward="false" selection-start-line="70" selection-start-column="35" selection-end-line="70" selection-end-column="35" />
               <folding>
                 <element signature="e#0#41#0" expanded="true" />
               </folding>
@@ -125,16 +126,16 @@
         <option value="$PROJECT_DIR$/gyro_test.py" />
         <option value="$PROJECT_DIR$/ultrasonic.py" />
         <option value="$PROJECT_DIR$/gyro.py" />
-        <option value="$PROJECT_DIR$/install.sh" />
         <option value="$PROJECT_DIR$/motors.py" />
         <option value="$PROJECT_DIR$/motor.py" />
         <option value="$PROJECT_DIR$/servo_2.py" />
         <option value="$PROJECT_DIR$/thermo.py" />
         <option value="$PROJECT_DIR$/update.sh" />
-        <option value="$PROJECT_DIR$/lib/hardwarelib.py" />
-        <option value="$PROJECT_DIR$/main.py" />
         <option value="$PROJECT_DIR$/lib/graphiclib.py" />
         <option value="$PROJECT_DIR$/lib/controllib.py" />
+        <option value="$PROJECT_DIR$/install.sh" />
+        <option value="$PROJECT_DIR$/main.py" />
+        <option value="$PROJECT_DIR$/lib/hardwarelib.py" />
       </list>
     </option>
   </component>
@@ -482,14 +483,6 @@
     <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" />
@@ -512,41 +505,49 @@
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/lib/hardwarelib.py">
+    <entry file="file://$PROJECT_DIR$/lib/graphiclib.py">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="306">
-          <caret line="48" column="35" lean-forward="true" selection-start-line="48" selection-start-column="35" selection-end-line="48" selection-end-column="35" />
+        <state relative-caret-position="457">
+          <caret line="64" column="32" lean-forward="false" selection-start-line="64" selection-start-column="32" selection-end-line="64" selection-end-column="32" />
           <folding>
-            <element signature="e#0#41#0" expanded="true" />
+            <element signature="e#0#28#0" expanded="true" />
           </folding>
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/main.py">
+    <entry file="file://$PROJECT_DIR$/install.sh">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="102">
+          <caret line="6" column="33" lean-forward="false" selection-start-line="6" selection-start-column="33" selection-end-line="6" selection-end-column="33" />
+          <folding />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/lib/controllib.py">
       <provider selected="true" editor-type-id="text-editor">
         <state relative-caret-position="321">
-          <caret line="37" column="30" lean-forward="false" selection-start-line="37" selection-start-column="30" selection-end-line="37" selection-end-column="30" />
-          <folding>
-            <element signature="e#0#19#0" expanded="true" />
-          </folding>
+          <caret line="42" column="38" lean-forward="true" selection-start-line="42" selection-start-column="38" selection-end-line="42" selection-end-column="38" />
+          <folding />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/lib/graphiclib.py">
+    <entry file="file://$PROJECT_DIR$/main.py">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="457">
-          <caret line="64" column="32" lean-forward="false" selection-start-line="64" selection-start-column="32" selection-end-line="64" selection-end-column="32" />
+        <state relative-caret-position="272">
+          <caret line="28" column="18" lean-forward="false" selection-start-line="28" selection-start-column="18" selection-end-line="28" selection-end-column="18" />
           <folding>
-            <element signature="e#0#28#0" expanded="true" />
+            <element signature="e#0#19#0" expanded="true" />
           </folding>
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/lib/controllib.py">
+    <entry file="file://$PROJECT_DIR$/lib/hardwarelib.py">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="266">
-          <caret line="42" column="38" lean-forward="true" selection-start-line="42" selection-start-column="38" selection-end-line="42" selection-end-column="38" />
-          <folding />
+        <state relative-caret-position="185">
+          <caret line="70" column="35" lean-forward="false" selection-start-line="70" selection-start-column="35" selection-end-line="70" selection-end-column="35" />
+          <folding>
+            <element signature="e#0#41#0" expanded="true" />
+          </folding>
         </state>
       </provider>
     </entry>
diff --git a/install.sh b/install.sh
index af6a0dd..531fe66 100644
--- a/install.sh
+++ b/install.sh
@@ -3,8 +3,8 @@ sudo apt update
 sudo apt upgrade
 sudo apt dist-upgrade
 sudo pip3 install pygame
-sudo apt install python-smbus
-sudo apt install i2c-tools
+sudo apt-get install -y python-smbus
+sudo apt-get install -y i2c-tools
 sudo pip install adafruit-pca9685
 sudo apt install vsftpd
 sudo apt install vlc
diff --git a/lib/hardwarelib.py b/lib/hardwarelib.py
index 51abee8..f836b20 100644
--- a/lib/hardwarelib.py
+++ b/lib/hardwarelib.py
@@ -1,6 +1,7 @@
 from subprocess import call, check_output
 from lib import ultrasonic
 import RPi.GPIO as GPIO
+import time
 
 
 class Navigator():
@@ -61,10 +62,14 @@ class Ultrasonic:
     def __init__(self, trigger, echo):
         self.sensor = ultrasonic.Sensor()
         self.sensor.init(trigger, echo)
+        self.time = 0
+        self.distance = 0
 
     def get_distance(self):
-        distance = self.sensor.echo()
-        return distance
+        if (time.time()-self.time)>1:
+            self.distance = self.sensor.echo()
+            self.time = time.time()
+        return self.distance
 
     def __del__(self):
         self.sensor.clean()
diff --git a/main.py b/main.py
index 5a3196f..6c38622 100644
--- a/main.py
+++ b/main.py
@@ -29,6 +29,7 @@ def main():
     running = True
 
     while running:
+
         clock.tick(25)
         for event in pygame.event.get():
             if event.type == pygame.QUIT:
@@ -36,6 +37,7 @@ def main():
                 running = False
 
         dict = jstick.handle()
+        dict['Distance'] = ultrasonic.get_distance()
         list.set_dict(dict)
         all_sprites.update()
         update_rects = all_sprites.draw(screen.screen)