diff --git a/esp.ino b/esp.ino
deleted file mode 100644
index 57b5922..0000000
--- a/esp.ino
+++ /dev/null
@@ -1,257 +0,0 @@
-#include <Wire.h>
-#include <WiFi.h>
-#include <WiFiUdp.h>
-#include <SparkFun_VL53L1X.h>
-
-const char * networkName = "OTEfd57e0";
-const char * networkPswd = "akup8407";
-const char * udpAddress = "192.168.1.2";
-const int udpPort = 6000;
-SFEVL53L1X distanceSensor;
-WiFiUDP udp;
-boolean connected = false;
-
-#define       MOTOR_PHASE_A           26
-#define       MOTOR_PHASE_B           25
-#define       MOTOR_PHASE_C           33
-#define       MOTOR_PHASE_D           32
-#define       HOMING_PIN              35
-unsigned long starttime;
-unsigned long endtime;
-
-int count = 0;
-int flag = 0;
-
-int circle = 2048 * 3.25;
-
-char *buffer1;
-char *buffer2;
-float distance;
-float x,y;
-int angle;
-int max_angle,max_d,f_d;
-int flag_lastTurn[2];
-
-int step();
-
-void setup() {
-  flag_lastTurn[0]=0;
-  flag_lastTurn[1]=1;
-  Wire.begin();
-
-  if (distanceSensor.begin() == 0) //Begin returns 0 on a good init
-  {
-    Serial.println("Sensor online!");
-  }
-  //distanceSensor.setDistanceModeShort();//Sets it to max 1.3 works better with diffrent ambient lights
-  distanceSensor.setTimingBudgetInMs(120);
-  distanceSensor.setIntermeasurementPeriod(150);
-  connectToWiFi(networkName, networkPswd);
-   Serial2.begin(9600);
-  Serial.begin(9600);
-  Serial.println("Setup");
-  pinMode(MOTOR_PHASE_A, OUTPUT);
-  pinMode(MOTOR_PHASE_B, OUTPUT);
-  pinMode(MOTOR_PHASE_C, OUTPUT);
-  pinMode(MOTOR_PHASE_D, OUTPUT);
-  pinMode(HOMING_PIN, INPUT);
-  starttime = millis();
-  buffer1 = (char*) malloc((sizeof(char) + sizeof(unsigned long)) * sizeof(char) + 1);
-  buffer2 = (char*) malloc((sizeof(int)+(3*sizeof(float)) ) * sizeof(char) + 1);
-  while (digitalRead(HOMING_PIN) == HIGH)step();
-  while (digitalRead(HOMING_PIN) == LOW) {
-    step();
-  }
-  x=0;
-  y=0;
-}
-
-void loop() {
-   sprintf (buffer1, "%c%lu",'F',1000);
-   Serial2.print(buffer1);
-    max_angle=-1;
-  max_d=-1;
-  f_d=0;
-   //if(count%circle==0)delay(5000);
-   for(count=0;count<circle-1;){
-       count += step();
-
-   if (count % 18 == 0) {
-     delay(150);
-     distanceSensor.startRanging();
-     distanceSensor.stopRanging();
-     while(!distanceSensor.checkForDataReady()){};
-     distance = distanceSensor.getDistance(); //Get the result of the measurement from the sensor
-     if(distanceSensor.getRangeStatus()==0){
-       if (connected) {
-         //Send a packet
-         udp.beginPacket(udpAddress, udpPort);
-         angle = ceil(count * 0.054086538);
-         sprintf(buffer2, "%d,%f,%f,%f",angle,distance/10,x*10,y*10);
-         udp.printf("%s",buffer2);
-         udp.endPacket();
-       }
-       if(distance>max_d){
-        max_d=distance;
-        max_angle=angle;
-        }
-     }
-     if(count==0){
-      if(distance>18||distanceSensor.getRangeStatus()==4){
-         f_d=1;
-        }
-      }
-     // Serial.print("ANGLE:");
-     // Serial.print(angle);
-     // Serial.print(" DISTANCE:");
-     // Serial.println(distance/10);
-     // Serial.println(buffer2);
-   }
-
- }
-   count = count % circle-1;
-   if(f_d!=1){
-   		if(max_angle>180){
-   		  sprintf (buffer1, "%c%lu",'L',850);
-       	  Serial2.print(buffer1);
-   		}
-   		else
-   		{
-   		  sprintf (buffer1, "%c%lu",'R',850);
-       	  Serial2.print(buffer1);
-   		}
-   }
-   delay(1000);
-   /*
-   if(f_d!=1){
-    if(max_angle>180){
-       sprintf (buffer1, "%c%lu",'L',850);
-       Serial2.print(buffer1);
-       delay(500);
-       if(flag_lastTurn[0]==1){
-        switch(flag_lastTurn[1]){
-            case 1:
-                  // x-=12.5;
-                    break;
-            case 0:
-                  x+=12.5;
-                    break;
-         }
-        }
-       else
-       //y-=12.5;
-       sprintf (buffer1, "%c%lu",'F',1000);
-       Serial2.print(buffer1);
-      }
-     else{
-       sprintf (buffer1, "%c%lu",'R',850);
-       Serial2.print(buffer1);
-       delay(500);
-              if(flag_lastTurn[0]==1){
-        switch(flag_lastTurn[1]){
-            case 1:
-                   x+=12.5;
-                    break;
-            case 0:
-                 // x-=12.5;
-                    break;
-         }
-        }
-       else
-       y+=12.5;
-      }
-       sprintf (buffer1, "%c%lu",'F',1000);
-       Serial2.print(buffer1);
-   }
-   else{
-       sprintf (buffer1, "%c%lu",'F',1000);
-       Serial2.print(buffer1);
-       x+=12.5;
-       flag_lastTurn[0]=0;
-       flag_lastTurn[1]=0;
-   }*/
-
-}
-
-
-int step() {
-  static int count;
-
-  switch (count) {
-    case 0:
-      {
-        digitalWrite(MOTOR_PHASE_D, HIGH);
-        digitalWrite(MOTOR_PHASE_C, LOW);
-        digitalWrite(MOTOR_PHASE_B, LOW);
-        digitalWrite(MOTOR_PHASE_A, LOW);
-      }
-      break;
-    case 1:
-      {
-        digitalWrite(MOTOR_PHASE_D, LOW);
-        digitalWrite(MOTOR_PHASE_C, HIGH);
-        digitalWrite(MOTOR_PHASE_B, LOW);
-        digitalWrite(MOTOR_PHASE_A, LOW);
-      }
-      break;
-    case 2:
-      {
-        digitalWrite(MOTOR_PHASE_D, LOW);
-        digitalWrite(MOTOR_PHASE_C, LOW);
-        digitalWrite(MOTOR_PHASE_B, HIGH);
-        digitalWrite(MOTOR_PHASE_A, LOW);
-      }
-      break;
-    case 3:
-      {
-        digitalWrite(MOTOR_PHASE_D, LOW);
-        digitalWrite(MOTOR_PHASE_C, LOW);
-        digitalWrite(MOTOR_PHASE_B, LOW);
-        digitalWrite(MOTOR_PHASE_A, HIGH);
-      }
-      break;
-
-
-  }
-  delay(8);
-  count++;
-  count = count % 4;
-
-  return 1;
-}
-
-
-
-void connectToWiFi(const char * ssid, const char * pwd) {
-  Serial.println("Connecting to WiFi network: " + String(ssid));
-
-  // delete old config
-  WiFi.disconnect(true);
-  //register event handler
-  WiFi.onEvent(WiFiEvent);
-
-  //Initiate connection
-  WiFi.begin(ssid, pwd);
-
-  Serial.println("Waiting for WIFI connection...");
-}
-
-//wifi event handler
-void WiFiEvent(WiFiEvent_t event) {
-  switch (event) {
-    case SYSTEM_EVENT_STA_GOT_IP:
-      //When connected set
-      Serial.print("WiFi connected! IP address: ");
-      Serial.println(WiFi.localIP());
-      //initializes the UDP state
-      //This initializes the transfer buffer
-      udp.begin(WiFi.localIP(), udpPort);
-      connected = true;
-      break;
-    case SYSTEM_EVENT_STA_DISCONNECTED:
-      Serial.println("WiFi lost connection");
-      connected = false;
-      break;
-    default: break;
-  }
-}