diff --git a/pROJECT.ino b/pROJECT.ino
new file mode 100644
index 0000000..b615846
--- /dev/null
+++ b/pROJECT.ino
@@ -0,0 +1,407 @@
+#include <Wire.h>
+#include <TimerOne.h>
+#include <SoftwareSerial.h>
+#include <ArduinoJson.h>
+ 
+#define MPU9250_ADDRESS 0x68
+#define MAG_ADDRESS 0x0C
+ 
+#define GYRO_FULL_SCALE_250_DPS 0x00 
+#define GYRO_FULL_SCALE_500_DPS 0x08
+#define GYRO_FULL_SCALE_1000_DPS 0x10
+#define GYRO_FULL_SCALE_2000_DPS 0x18
+ 
+#define ACC_FULL_SCALE_2_G 0x00 
+#define ACC_FULL_SCALE_4_G 0x08
+#define ACC_FULL_SCALE_8_G 0x10
+#define ACC_FULL_SCALE_16_G 0x18
+ 
+// This function read Nbytes bytes from I2C device at address Address. 
+// Put read bytes starting at register Register in the Data array. 
+void I2Cread(uint8_t Address, uint8_t Register, uint8_t Nbytes, uint8_t* Data)
+{
+// Set register address
+Wire.beginTransmission(Address);
+Wire.write(Register);
+Wire.endTransmission();
+ 
+// Read Nbytes
+Wire.requestFrom(Address, Nbytes);
+uint8_t index=0;
+while (Wire.available())
+Data[index++]=Wire.read();
+}
+  StaticJsonBuffer<200> jsonBuffer;
+  
+  // Build your own object tree in memory to store the data you want to send in the request
+  JsonObject& root = jsonBuffer.createObject();
+ 
+SoftwareSerial ArduinoMaster(2,3);
+String msg; 
+// Write a byte (Data) in device (Address) at register (Register)
+void I2CwriteByte(uint8_t Address, uint8_t Register, uint8_t Data)
+{
+// Set register address
+Wire.beginTransmission(Address);
+Wire.write(Register);
+Wire.write(Data);
+Wire.endTransmission();
+}
+ 
+// Initial time
+long int ti;
+volatile bool intFlag=false;
+int enableA = 11;
+int pinA1 = 6;
+int pinA2 = 5;
+int enableB = 10;
+int pinB1 = 4;
+int pinB2 = 3;
+boolean run = true;
+ 
+// Initializations
+void setup()
+{
+ pinMode(enableA, OUTPUT);
+ pinMode(pinA1, OUTPUT);
+ pinMode(pinA2, OUTPUT);
+ 
+ pinMode(enableB, OUTPUT);
+ pinMode(pinB1, OUTPUT);
+ pinMode(pinB2, OUTPUT);
+// Arduino initializations
+pinMode(13,OUTPUT);
+Wire.begin();
+ArduinoMaster.begin(9600);
+Serial.begin(9600);
+ 
+// Set accelerometers low pass filter at 5Hz
+I2CwriteByte(MPU9250_ADDRESS,29,0x06);
+// Set gyroscope low pass filter at 5Hz
+I2CwriteByte(MPU9250_ADDRESS,26,0x06);
+ 
+ 
+// Configure gyroscope range
+I2CwriteByte(MPU9250_ADDRESS,27,GYRO_FULL_SCALE_1000_DPS);
+// Configure accelerometers range
+I2CwriteByte(MPU9250_ADDRESS,28,ACC_FULL_SCALE_4_G);
+// Set by pass mode for the magnetometers
+I2CwriteByte(MPU9250_ADDRESS,0x37,0x02);
+ 
+// Request continuous magnetometer measurements in 16 bits
+I2CwriteByte(MAG_ADDRESS,0x0A,0x16);
+ 
+pinMode(13, OUTPUT);
+Timer1.initialize(10000); // initialize timer1, and set a 1/2 second period
+Timer1.attachInterrupt(callback); // attaches callback() as a timer overflow interrupt
+ 
+ 
+// Store initial time
+ti=millis();
+}
+ 
+// Counter
+long int cpt=0;
+ 
+void callback()
+{
+intFlag=true;
+digitalWrite(13, digitalRead(13) ^ 1);
+}
+ 
+// Main loop, read and display data
+void loop()
+{
+readSerialPort();
+// Send answer to master
+if(msg!=""){
+Serial.print("Master sent : " );
+Serial.println(msg);
+ArduinoMaster.print(msg);
+msg="";
+}
+while (!intFlag);
+intFlag=false;
+ 
+// Display time
+Serial.print (millis()-ti,DEC);
+Serial.print ("\t");
+ 
+ 
+// _______________
+// ::: Counter :::
+ 
+// Display data counter
+// Serial.print (cpt++,DEC);
+// Serial.print ("\t");
+ 
+ 
+ 
+// ____________________________________
+// ::: accelerometer and gyroscope :::
+ 
+// Read accelerometer and gyroscope
+uint8_t Buf[14];
+I2Cread(MPU9250_ADDRESS,0x3B,14,Buf);
+ 
+// Create 16 bits values from 8 bits data
+ 
+// Accelerometer
+int16_t ax=-(Buf[0]<<8 | Buf[1]);
+int16_t ay=-(Buf[2]<<8 | Buf[3]);
+int16_t az=Buf[4]<<8 | Buf[5];
+ 
+// Gyroscope
+int16_t gx=-(Buf[8]<<8 | Buf[9]);
+int16_t gy=-(Buf[10]<<8 | Buf[11]);
+int16_t gz=Buf[12]<<8 | Buf[13];
+
+root["acceleratorx"]= ax;
+root["acceleratory"]= ay;
+root["acceleratorz"]= az;
+
+root["gyroscopex"]= ax;
+root["gyroscopey"]= ay;
+root["gyroscopez"]= az;
+root.prettyPrintTo(Serial);
+Serial.println();
+
+// Display values
+// Accelerometer
+
+/*
+Serial.print ("ax: ");
+Serial.print (ax,DEC);
+Serial.print ("\t");
+Serial.print ("ay :");
+Serial.print (ay,DEC);
+Serial.print ("\t");
+Serial.print ("az :");
+Serial.print (az,DEC);
+Serial.print ("\t");
+*/ 
+// Gyroscope
+
+/*
+Serial.print ("gx: ");
+Serial.print (gx,DEC);
+Serial.print ("\t");
+Serial.print ("gy: ");
+Serial.print (gy,DEC);
+Serial.print ("\t");
+Serial.print ("gz: ");
+Serial.print (gz,DEC);
+Serial.print ("\t");
+*/ 
+/* 
+// _____________________
+// ::: Magnetometer :::
+ 
+ 
+// Read register Status 1 and wait for the DRDY: Data Ready
+ 
+uint8_t ST1;
+do
+{
+I2Cread(MAG_ADDRESS,0x02,1,&ST1);
+}
+while (!(ST1&0x01));
+ 
+// Read magnetometer data 
+uint8_t Mag[7];
+I2Cread(MAG_ADDRESS,0x03,7,Mag);
+ 
+// Create 16 bits values from 8 bits data
+ 
+// Magnetometer
+int16_t mx=-(Mag[3]<<8 | Mag[2]);
+int16_t my=-(Mag[1]<<8 | Mag[0]);
+int16_t mz=-(Mag[5]<<8 | Mag[4]);
+ 
+ 
+// Magnetometer
+Serial.print (mx+200,DEC);
+Serial.print ("\t");
+Serial.print (my-70,DEC);
+Serial.print ("\t");
+Serial.print (mz-700,DEC);
+Serial.print ("\t");
+ 
+ 
+ 
+// End of line*/
+Serial.println("");
+// delay(500000);
+
+}
+
+
+void readSerialPort(){
+while (ArduinoMaster.available()) {
+delay(10); 
+if (ArduinoMaster.available() >0) {
+char c = ArduinoMaster.read();  //gets one byte from serial buffer
+msg += c; //makes the string readString
+}
+}
+ArduinoMaster.flush();
+}
+void enableMotors()
+{
+ motorAOn();
+ motorBOn();
+}
+ 
+void disableMotors()
+{
+ motorAOff();
+ motorBOff();
+}
+ 
+void forward(int time)
+{
+ motorAForward();
+ motorBForward();
+ delay(time);
+}
+ 
+void backward(int time)
+{
+ motorABackward();
+ motorBBackward();
+ delay(time);
+}
+ 
+void turnLeft(int time)
+{
+ motorABackward();
+ motorBForward();
+ delay(time);
+}
+ 
+void turnRight(int time)
+{
+ motorAForward();
+ motorBBackward();
+ delay(time);
+}
+ 
+void coast(int time)
+{
+ motorACoast();
+ motorBCoast();
+ delay(time);
+}
+ 
+void brake(int time)
+{
+ motorABrake();
+ motorBBrake();
+ delay(time);
+}
+//Define low-level H-bridge commands
+ 
+//enable motors
+void motorAOn()
+{
+ digitalWrite(enableA, HIGH);
+}
+ 
+void motorBOn()
+{
+ digitalWrite(enableB, HIGH);
+}
+ 
+ //disable motors
+void motorAOff()
+{
+ digitalWrite(enableB, LOW);
+}
+ 
+void motorBOff()
+{
+ digitalWrite(enableA, LOW);
+}
+ 
+ //motor A controls
+void motorAForward()
+{
+ digitalWrite(pinA1, HIGH);
+ digitalWrite(pinA2, LOW);
+}
+ 
+void motorABackward()
+{
+ digitalWrite(pinA1, LOW);
+ digitalWrite(pinA2, HIGH);
+}
+ 
+//motor B controls
+void motorBForward()
+{
+ digitalWrite(pinB1, HIGH);
+ digitalWrite(pinB2, LOW);
+}
+ 
+void motorBBackward()
+{
+ digitalWrite(pinB1, LOW);
+ digitalWrite(pinB2, HIGH);
+}
+ 
+//coasting and braking
+void motorACoast()
+{
+ digitalWrite(pinA1, LOW);
+ digitalWrite(pinA2, LOW);
+}
+ 
+void motorABrake()
+{
+ digitalWrite(pinA1, HIGH);
+ digitalWrite(pinA2, HIGH);
+}
+ 
+void motorBCoast()
+{
+ digitalWrite(pinB1, LOW);
+ digitalWrite(pinB2, LOW);
+}
+ 
+void motorBBrake()
+{
+ digitalWrite(pinB1, HIGH);
+ digitalWrite(pinB2, HIGH);
+}
+/*bool sendRequest(const char* host, const char* resource) {
+  // Reserve memory space for your JSON data
+  StaticJsonBuffer<200> jsonBuffer;
+  
+  // Build your own object tree in memory to store the data you want to send in the request
+  JsonObject& root = jsonBuffer.createObject();
+  root["sensor"] = "dht11";
+  
+  JsonObject& data = root.createNestedObject("data");
+  data.set("temperature", "30.1");
+  data.set("humidity", "70.1");
+  
+  // Generate the JSON string
+  root.printTo(Serial);
+  
+  Serial.print("POST ");
+  Serial.println(resource);
+
+  client.print("POST ");
+  client.print(resource);
+  client.println(" HTTP/1.1");
+  client.print("Host: ");
+  client.println(host);
+  client.println("Connection: close\r\nContent-Type: application/json");
+  client.print("Content-Length: ");
+  client.print(root.measureLength());
+  client.print("\r\n");
+  client.println();
+  root.printTo(client);
+
+  return true;
+}*/