diff --git a/Mapping/Server b/Mapping/Server
new file mode 100644
index 0000000..3f3278b
--- /dev/null
+++ b/Mapping/Server
@@ -0,0 +1,106 @@
+/**
+ * (./) udp.pde - how to use UDP library as unicast connection
+ * (cc) 2006, Cousot stephane for The Atelier Hypermedia
+ * (->) http://hypermedia.loeil.org/processing/
+ *
+ * Create a communication between Processing<->Pure Data @ http://puredata.info/
+ * This program also requires to run a small program on Pd to exchange data
+ * (hum!!! for a complete experimentation), you can find the related Pd patch
+ * at http://hypermedia.loeil.org/processing/udp.pd
+ *
+ * -- note that all Pd input/output messages are completed with the characters
+ * ";\n". Don't refer to this notation for a normal use. --
+ */
+
+// import UDP library
+import hypermedia.net.*;
+import java.util.*;
+Deque<String> d = new ArrayDeque<String>();
+
+String myString;
+float x,y,angle;
+float num;
+float num2;
+
+UDP udp;  // define the UDP object
+
+/**
+ * init
+ */
+void setup() {
+  size(820, 820);
+  noSmooth();
+  background(0);
+  translate(410, 410);
+  stroke(255);
+  strokeWeight(3);
+
+  // create a new datagram connection on port 6000
+  // and wait for incomming message
+  udp = new UDP( this, 6000 );
+  //udp.log( true ); 		// <-- printout the connection activity
+  udp.listen( true );
+}
+
+//process events
+void draw() {
+    if (!d.isEmpty()) {
+
+ String[] q = splitTokens(d.pop(), ",");
+
+
+    num=float(q[0]);  // Converts and prints float
+    num2 = float(q[1]);  // Converts and prints float
+
+    //Pass from polars to cartesians adna dd 410 to be in the middle of the 820 by 820 screen.
+    angle = num * 0.0174533;
+    x = (sin(angle)*num2 + 410);
+    y = (cos(angle)*num2 + 410);
+
+    }
+    if(num == 0 )
+    {
+      background(0);
+      translate(410, 410);
+    }
+    point(x, y);
+
+}
+
+/**
+ * on key pressed event:
+ * send the current key value over the network
+ */
+void keyPressed() {
+
+    String message  = str( key );	// the message to send
+    String ip       = "localhost";	// the remote IP address
+    int port        = 6100;		// the destination port
+
+    // formats the message for Pd
+    message = message+";\n";
+    // send the message
+    udp.send( message, ip, port );
+
+}
+
+/**
+ * To perform any action on datagram reception, you need to implement this
+ * handler in your code. This method will be automatically called by the UDP
+ * object each time he receive a nonnull message.
+ * By default, this method have just one argument (the received message as
+ * byte[] array), but in addition, two arguments (representing in order the
+ * sender IP address and his port) can be set like below.
+ */
+// void receive( byte[] data ) { 			// <-- default handler
+void receive( byte[] data, String ip, int port ) {	// <-- extended handler
+
+
+  // get the "real" message =
+  // forget the ";\n" at the end <-- !!! only for a communication with Pd !!!
+  data = subset(data, 0, data.length);
+  String message = new String( data );
+  d.add(message);
+  // print the result
+
+}
diff --git a/Mapping/esp.ino b/Mapping/esp.ino
new file mode 100644
index 0000000..b25b460
--- /dev/null
+++ b/Mapping/esp.ino
@@ -0,0 +1,208 @@
+#include <Wire.h>
+#include <WiFi.h>
+#include <WiFiUdp.h>
+#include <SparkFun_VL53L1X.h>
+
+const char * networkName = "COSMOTE-424630";
+const char * networkPswd = "tQThvFVAxRJhsYKg";
+const char * udpAddress = "192.168.1.76";
+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;
+float  rotationtime;
+int count = 0;
+int flag = 0;
+
+int circle = 2048 * 3.25;
+
+char *buffer1;
+char buffer2[20];
+int distance;
+int angle;
+
+int step();
+
+void setup() {
+  Wire.begin();
+  if (distanceSensor.begin() == 0) //Begin returns 0 on a good init
+  {
+    Serial.println("Sensor online!");
+  }
+
+  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);
+  while (digitalRead(HOMING_PIN) == HIGH)step();
+  while (digitalRead(HOMING_PIN) == LOW) {
+    step();
+  }
+  delay(2000);
+}
+
+void loop() {
+  //if(count%circle==0)delay(5000);
+  for(count=0;count<circle-1;){
+      count += step();
+
+  if (count % 18 == 0) {
+    distanceSensor.startRanging();
+    distance = distanceSensor.getDistance(); //Get the result of the measurement from the sensor
+    distanceSensor.stopRanging();
+    if (connected) {
+      //Send a packet
+      udp.beginPacket(udpAddress, udpPort);
+      angle = ceil(count * 0.054086538);
+      sprintf(buffer2, "%d,%f",angle,(float)distance);
+      udp.printf("%s",buffer2);
+      udp.endPacket();
+    }
+    Serial.print("ANGLE:");
+    Serial.print(angle);
+    Serial.print(" DISTANCE:");
+    Serial.println(distance/10);
+    Serial.println(buffer2);
+  }
+
+}
+
+  //  if(digitalRead(HOMING_PIN)==LOW)
+  //        Serial.println("LOW");
+  //  else
+  //  Serial.println("HIGH");
+  count = count % circle-1;
+
+
+     sprintf (buffer1, "%c%lu",'F',2500);
+     Serial2.print(buffer1);
+     delay(5000);
+
+  /*
+      sprintf (buffer1, "%c%lu",'L',200);
+    Serial2.print(buffer1);
+    delay(2000);
+
+      sprintf (buffer1, "%c%lu",'F',200);
+    Serial2.print(buffer1);
+      delay(2000);
+      sprintf (buffer1, "%c%lu",'R',200);
+    Serial2.print(buffer1);
+       delay(2000);*/
+
+
+  /*
+
+
+      if(count==2048*3.25){
+        endtime=millis();
+        rotationtime=(endtime-starttime)/1000;
+        if(flag==0){
+              Serial.print("It took:");
+        Serial.print(rotationtime);
+        Serial.println("seconds");
+        flag++;
+        }
+      }
+      count=count%2048*3.25; */
+
+
+}
+
+
+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;
+  }
+}
diff --git a/Mapping/motor_arduino_garbage b/Mapping/motor_arduino_garbage
new file mode 100644
index 0000000..24a5d08
--- /dev/null
+++ b/Mapping/motor_arduino_garbage
@@ -0,0 +1,218 @@
+
+//very crude libraries with objects for motor and tandrive system (2 motors no steering)
+//tandrive is an object that you attach the motor objects you make bellow made some functions
+//in hope it will be more easier to read etc.
+
+#include "Motorz.h";
+#include "tankdrive.h";
+#include <NewPing.h>
+#include <Servo.h>
+
+#define SONAR_PIN 10
+#define SERVO_PIN 9
+#define MAX_DISTANCE 200 //max sonar dinstance according to the type of sensor i use Hc-SR04
+
+NewPing sonar(SONAR_PIN,SONAR_PIN, MAX_DISTANCE);
+Servo myservo;
+
+
+
+int GetDistances();
+
+int i;
+int enr=5; // enable pin for motor r (must be pwm)
+int in1=4; // pin for one of the two connections of the mottor
+int in2=3;// other connection (these two are digital pins)
+// depends on how you end up wiring and placing the motors it will spin a certain way
+// and another way when you reverse the voltage , direct holds (0,1) depending on how you
+// wired the motor to go "forwards" what ever that means for your project
+int directr=0;
+int enl=6;
+int in3=7;
+int in4=8;
+int directl=0;
+
+char buffer1[(sizeof(char)+sizeof(unsigned long))*sizeof(char)+1];
+
+  char a;
+  unsigned long runforsmth;
+Motorz motorR(enr,in1,in2,directr);
+Motorz motorL(enl,in3,in4,directl);
+
+TankDrive mytank(&motorR,directr,&motorL,directl);
+
+void setup(){
+  Serial.begin(9600);
+  motorR.SetSpeed(80);  //im using diffrent motors (trying to simulate wheels so i figure things out )
+  motorL.SetSpeed(80);	// so that explains the diffrent speed in each motor
+   pinMode(LED_BUILTIN, OUTPUT);
+}
+
+
+void loop(){
+
+  digitalWrite(LED_BUILTIN,LOW);
+
+
+
+
+
+    /*
+     *
+     *
+     *
+     * if(a=='1'){
+        digitalWrite(LED_BUILTIN, HIGH);
+        // turn the LED on (HIGH is the voltage level)
+      }
+     else if(a=='0')
+          digitalWrite(LED_BUILTIN, LOW);    // turn the LED off by making the voltage LOW
+
+     *
+     *
+     *
+     *
+     *
+     *
+     *
+     *
+     *
+   mytank.TurnRight();
+   delay(10000);
+   mytank.TurnLeft();
+   delay(10000);
+   mytank.MoveForward();
+   delay(10000);
+
+
+
+
+motorR.Start();
+Serial.println(motorR.GetDirection());
+delay(1000);
+motorR.ChangeDir();
+Serial.print("Changing Dir: ");
+Serial.println(motorR.GetDirection());
+
+Serial.print("F:");
+Serial.print(mytank.getFDirR());
+Serial.print(" B:");
+Serial.print(mytank.getBDirR());
+Serial.print(" ");
+Serial.print("F:");
+Serial.print(mytank.getFDirL());
+Serial.print(" B:");
+Serial.println(mytank.getBDirL());
+mytank.MoveForward();
+delay(5000);
+mytank.MoveBack();
+delay(5000);
+
+ * delay(1000);
+mytank.TurnLeft();
+delay(5000);
+mytank.TurnRight();
+delay(5000);
+mytank.MoveForward();
+delay(5000);
+
+
+Serial.println("Getting distances...");
+i=GetDistances();
+Serial.println("Done");
+  if(i==-1)
+  {
+    Serial.println("Turning Left...");
+    run_for_millis(&mytank,'L',200);
+  }
+  else if(i==0)
+  {
+     Serial.println("Going Forward...");
+     run_for_millis(&mytank,'M',200);
+  }
+  else{
+      Serial.println("Turning Right...");
+     run_for_millis(&mytank,'R',200);
+    } */
+}
+void serialEvent() {
+  while (Serial.available()) {
+        Serial.readBytes(buffer1,sizeof(buffer1));
+        sscanf( buffer1, "%c%lu",&a, &runforsmth);
+        run_for_millis(&mytank,a,runforsmth);
+       /*if(a=='L'){
+              digitalWrite(LED_BUILTIN, HIGH);
+              delay(runforsmth);
+        }*/
+    }
+}
+int GetDistances(){
+  int pos;
+  int maxdist[2];
+  int temp;
+  myservo.attach(SERVO_PIN);
+  maxdist[0]=-1;
+
+  for (pos = 20; pos <= 160; pos += 1) { // goes from 0 degrees to 180 degrees
+    // in steps of 1 degree
+    myservo.write(pos);
+    temp=sonar.ping_cm();
+    Serial.print("Distance:");
+    Serial.print(temp);
+    Serial.print(" Angle:");
+    Serial.println(pos);
+
+    if(temp>maxdist[0]){
+        maxdist[0]=temp;
+        maxdist[1]=pos;
+      }
+    delay(55);
+  }
+   for (pos = 160; pos >=20; pos -= 1) { // goes from 0 degrees to 180 degrees
+    myservo.write(pos);
+    delay(5);
+  }
+  myservo.detach();
+
+  if(maxdist[1]<70){
+         return -1;
+    }
+
+  else if(maxdist[1]>110){
+          return 1;
+    }
+
+  else return 0;
+
+}
+void run_for_millis(TankDrive *tank,char ch,unsigned long timetorun){
+
+  unsigned long count;
+  switch(ch){
+      case 'L':
+              count=millis();
+              do{
+                tank->TurnLeft();}
+              while(millis()-count<=timetorun);
+              tank->Stop();
+              break;
+
+      case 'F':
+              count=millis();
+              do{
+                tank->MoveForward();}
+              while(millis()-count<=timetorun);
+              tank->Stop();
+              break;
+      case 'R':
+              count=millis();
+              do{
+                 tank->TurnRight();}
+              while(millis()-count<=timetorun);
+              tank->Stop();
+              break;
+    }
+
+
+
+}
diff --git a/Mapping/motortest_first.ino b/Mapping/motortest_first.ino
new file mode 100644
index 0000000..075cb02
--- /dev/null
+++ b/Mapping/motortest_first.ino
@@ -0,0 +1,136 @@
+
+//very crude libraries with objects for motor and tandrive system (2 motors no steering)
+//tandrive is an object that you attach the motor objects you make bellow made some functions 
+//in hope it will be more easier to read etc.
+
+#include "Motorz.h";
+#include "tankdrive.h";
+#include <NewPing.h>
+#include <Servo.h>
+
+#define SONAR_PIN 10
+#define SERVO_PIN 9
+#define MAX_DISTANCE 200 //max sonar dinstance according to the type of sensor i use Hc-SR04
+
+NewPing sonar(SONAR_PIN,SONAR_PIN, MAX_DISTANCE);
+Servo myservo;
+
+
+
+int GetDistances();
+
+int i;
+int enr=5; // enable pin for motor r (must be pwm)
+int in1=4; // pin for one of the two connections of the mottor 
+int in2=3;// other connection (these two are digital pins)
+// depends on how you end up wiring and placing the motors it will spin a certain way 
+// and another way when you reverse the voltage , direct holds (0,1) depending on how you 
+// wired the motor to go "forwards" what ever that means for your project
+int directr=0; 
+int enl=6;
+int in3=7;
+int in4=8;
+int directl=0;
+
+char buffer1[(sizeof(char)+sizeof(unsigned long))*sizeof(char)+1];
+
+  char a;
+  unsigned long runforsmth;
+Motorz motorR(enr,in1,in2,directr);
+Motorz motorL(enl,in3,in4,directl);
+  
+TankDrive mytank(&motorR,directr,&motorL,directl);
+
+void setup(){
+  Serial.begin(9600);
+  motorR.SetSpeed(80);  //im using diffrent motors (trying to simulate wheels so i figure things out ) 
+  motorL.SetSpeed(80);	// so that explains the diffrent speed in each motor
+   pinMode(LED_BUILTIN, OUTPUT);
+}
+
+
+void loop(){    
+
+  digitalWrite(LED_BUILTIN,LOW); 
+}
+void serialEvent() {
+  while (Serial.available()) {
+        Serial.readBytes(buffer1,sizeof(buffer1));
+        sscanf( buffer1, "%c%lu",&a, &runforsmth);
+        run_for_millis(&mytank,a,runforsmth);
+       /*if(a=='L'){
+              digitalWrite(LED_BUILTIN, HIGH); 
+              delay(runforsmth);
+        }*/
+    }
+}
+int GetDistances(){
+  int pos;
+  int maxdist[2];
+  int temp;
+  myservo.attach(SERVO_PIN);
+  maxdist[0]=-1;
+
+  for (pos = 20; pos <= 160; pos += 1) { // goes from 0 degrees to 180 degrees
+    // in steps of 1 degree
+    myservo.write(pos);    
+    temp=sonar.ping_cm();
+    Serial.print("Distance:");
+    Serial.print(temp);
+    Serial.print(" Angle:");
+    Serial.println(pos);
+    
+    if(temp>maxdist[0]){
+        maxdist[0]=temp;
+        maxdist[1]=pos;
+      }
+    delay(55);                       
+  }
+   for (pos = 160; pos >=20; pos -= 1) { // goes from 0 degrees to 180 degrees
+    myservo.write(pos);
+    delay(5);                
+  }
+  myservo.detach();
+
+  if(maxdist[1]<70){
+         return -1;
+    }
+ 
+  else if(maxdist[1]>110){
+          return 1;
+    }
+
+  else return 0;
+  
+}
+void run_for_millis(TankDrive *tank,char ch,unsigned long timetorun){
+
+  unsigned long count;
+  switch(ch){
+      case 'L':
+              count=millis();
+              do{
+                tank->TurnLeft();}
+              while(millis()-count<=timetorun);
+              tank->Stop();
+              break;
+    
+      case 'F':
+              count=millis();
+              do{
+                tank->MoveForward();}
+              while(millis()-count<=timetorun);
+              tank->Stop();
+              break;
+      case 'R':
+              count=millis();
+              do{
+                 tank->TurnRight();}
+              while(millis()-count<=timetorun);
+              tank->Stop();
+              break;
+    }
+
+ 
+
+}  
diff --git a/Mapping/tankdrive.h b/Mapping/tankdrive.h
new file mode 100644
index 0000000..45485b3
--- /dev/null
+++ b/Mapping/tankdrive.h
@@ -0,0 +1,66 @@
+#ifndef _TANKDRIVE_H  // not #ifnotdef
+#define _TANKDRIVE_H
+
+#include "Motorz.h"
+
+class TankDrive
+{
+  Motorz *motorL;
+  Motorz *motorR;
+  int forwardR,forwardL,backR,backL;
+  public:
+  TankDrive(Motorz *MR,int fr,Motorz *ML,int fl){
+    motorL=ML;
+    motorR=MR;
+    forwardR=fr;
+    forwardL=fl;
+    if(fr==1)backR=0;
+    else backR=1;
+    if(fl==1)backL=0;
+    else backL=1;
+  }
+  void MoveForward(){
+    motorR->SetDirection(forwardR);
+    motorL->SetDirection(forwardL);
+    motorR->Start();
+    motorL->Start();
+  }
+    void MoveBack(){
+    motorR->SetDirection(backR);
+    motorL->SetDirection(backL);
+    motorR->Start();
+    motorL->Start();
+  }
+  void Stop(){
+
+    motorR->Stop();
+    motorL->Stop();
+  }
+  void TurnRight(){
+    motorR->SetDirection(backR);
+    motorL->SetDirection(forwardL);
+    motorR->Start();
+    motorL->Start();
+  }
+   void TurnLeft(){
+    motorR->SetDirection(forwardR);
+    motorL->SetDirection(backL);
+    motorL->Start();
+    motorR->Start();
+  }
+  int getFDirR(){
+     return forwardR; 
+    }
+ int getFDirL(){
+     return forwardL; 
+    }
+ int getBDirR(){
+     return backR;
+    }
+ int getBDirL(){
+     return backL; 
+    }
+};
+
+
+#endif _TANKDRIVE_H