diff --git a/IMU_tracking/IMU_tracking.ino b/IMU_tracking/IMU_tracking.ino
new file mode 100644
index 0000000..98eccb8
--- /dev/null
+++ b/IMU_tracking/IMU_tracking.ino
@@ -0,0 +1,98 @@
+#include <MPU9250_asukiaaa.h>
+#include <ArduinoJson.h>
+#ifdef _ESP32_HAL_I2C_H_
+#define SDA_PIN 4
+#define SCL_PIN 5
+#endif
+
+MPU9250_asukiaaa mySensor;
+float aX, aY, aZ, aSqrt, gX, gY, gZ, mDirection, mX, mY, mZ;
+String magnometer;
+String accelarator;
+String gyroscope;
+String sensorID;
+
+void setup() {
+  Serial.begin(115200);
+  while(!Serial);
+  Serial.println("started");
+ 
+ 
+#ifdef _ESP32_HAL_I2C_H_ // For ESP32
+  Wire.begin(SDA_PIN, SCL_PIN);
+  mySensor.setWire(&Wire);
+#endif
+
+  mySensor.beginAccel();
+  mySensor.beginGyro();
+  mySensor.beginMag();
+
+  // You can set your own offset for mag values
+  // mySensor.magXOffset = -50;
+  // mySensor.magYOffset = -55;
+  // mySensor.magZOffset = -10;
+}
+
+void loop() {
+  StaticJsonDocument<200> ID;
+  StaticJsonDocument<200> accelarator;
+  StaticJsonDocument<200> gyroscope;
+  StaticJsonDocument<200> magnometer;
+  uint8_t sensorId;
+  if (mySensor.readId(&sensorId) == 0) {
+     ID["Sensor"] = "=== 10 DOF IMU Sensor V2 ===";
+     ID["ID"] = sensorId;
+   //serializeJson(ID, Serial);
+   // Serial.println("sensorId: " + String(sensorId));
+  } else {
+    Serial.write("Cannot read sensorId");
+  }
+
+  if (mySensor.accelUpdate() == 0) {
+    aX = mySensor.accelX();
+    aY = mySensor.accelY();
+    aZ = mySensor.accelZ();
+    aSqrt = mySensor.accelSqrt();
+     accelarator["sensor"] = "accelarator";
+     accelarator["X"] = aX;
+     accelarator["Y"] = aY;
+     accelarator["Z"] = aZ;
+     serializeJsonPretty(accelarator, Serial);
+  } else {
+    Serial.write("Cannod read accel values");
+  }
+
+  if (mySensor.gyroUpdate() == 0) {
+    gX = mySensor.gyroX();
+    gY = mySensor.gyroY();
+    gZ = mySensor.gyroZ();
+     gyroscope["sensor"] = "gyroscope";
+     gyroscope["X"] = gX;
+     gyroscope["Y"] = gY;
+     gyroscope["Z"] = gZ;
+     serializeJsonPretty(gyroscope, Serial);
+ 
+  } else {
+    //Serial.println("Cannot read gyro values");
+    Serial.write("Cannot read gyro values");
+  }
+
+  if (mySensor.magUpdate() == 0) {
+    mX = mySensor.magX();
+    mY = mySensor.magY();
+    mZ = mySensor.magZ();
+    mDirection = mySensor.magHorizDirection();
+     magnometer["sensor"] = "magnometer";
+     magnometer["X"] = gX;
+     magnometer["Y"] = gY;
+     magnometer["Z"] = gZ;
+     magnometer["Direction"] = mDirection;
+    serializeJsonPretty(magnometer, Serial);
+   
+  } else {
+    Serial.write("Cannot read mag values");
+   
+  }
+  //Serial.write("Hello World!");   
+  delay(100);
+}
diff --git a/raspberry_pi/bluetooth_read.py b/raspberry_pi/bluetooth_read.py
new file mode 100644
index 0000000..bc77872
--- /dev/null
+++ b/raspberry_pi/bluetooth_read.py
@@ -0,0 +1,19 @@
+import time
+import serial
+import json
+ser = serial.Serial( 
+               port='/dev/rfcomm1',
+               baudrate = 9600,
+               parity=serial.PARITY_NONE,
+               stopbits=serial.STOPBITS_ONE,
+               bytesize=serial.EIGHTBITS,
+               timeout=1
+           )
+while 1: 
+    if(ser.isOpen):
+        line = ser.readline()
+        print(line)
+        b = open("/home/pi/Desktop/test.txt", "a")
+        b.write(str(line, 'utf-8'))
+        b.close()
+            
\ No newline at end of file
diff --git a/results/test.txt b/results/test.txt
new file mode 100644
index 0000000..28aa243
--- /dev/null
+++ b/results/test.txt
@@ -0,0 +1,1304 @@
+e",
+  "X": -1.464844,
+  "Y": 0,
+  "Z": 0.427246
+}{
+  "sensor": "magnometer",
+  "X": -1.464844,
+  "Y": 0,
+  "Z": 0.427246,
+  "Direction": 180.0002
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.106934,
+  "Y": 0.044922,
+  "Z": 1.01123
+}{
+  "sensor": "gyroscope",
+  "X": -1.464844,
+  "Y": 0,
+  "Z": 0.366211
+}{
+  "sensor": "magnometer",
+  "X": -1.464844,
+  "Y": 0,
+  "Z": 0.366211,
+  "Direction": -178.1586
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.106934,
+  "Y": 0.04834,
+  "Z": 1.015137
+}{
+  "sensor": "gyroscope",
+  "X": -1.037598,
+  "Y": 0.244141,
+  "Z": 0.366211
+}{
+  "sensor": "magnometer",
+  "X": -1.037598,
+  "Y": 0.244141,
+  "Z": 0.366211,
+  "Direction": 178.0972
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.105957,
+  "Y": 0.04541,
+  "Z": 1.007813
+}{
+  "sensor": "gyroscope",
+  "X": -1.281738,
+  "Y": -0.12207,
+  "Z": 0.366211
+}{
+  "sensor": "magnometer",
+  "X": -1.281738,
+  "Y": -0.12207,
+  "Z": 0.366211,
+  "Direction": 180.0002
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.106934,
+  "Y": 0.048828,
+  "Z": 1.019531
+}{
+  "sensor": "gyroscope",
+  "X": -1.403809,
+  "Y": -0.061035,
+  "Z": 0.488281
+}{
+  "sensor": "magnometer",
+  "X": -1.403809,
+  "Y": -0.061035,
+  "Z": 0.488281,
+  "Direction": 178.1586
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.107422,
+  "Y": 0.047852,
+  "Z": 1.018066
+}{
+  "sensor": "gyroscope",
+  "X": -1.281738,
+  "Y": -0.244141,
+  "Z": 0.244141
+}{
+  "sensor": "magnometer",
+  "X": -1.281738,
+  "Y": -0.244141,
+  "Z": 0.244141,
+  "Direction": -178.0972
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.105957,
+  "Y": 0.043457,
+  "Z": 1.014648
+}{
+  "sensor": "gyroscope",
+  "X": -1.220703,
+  "Y": 0.1Z": 0.244141
+}{
+  "sensor": "magnometer",
+  "X": -1.220703,
+  "Y": 0.12207,
+  "Z": 0.244141,
+  "Direction": -178.0972
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.10791,
+  "Y": 0.04834,
+  "Z": 1.015625
+}{
+  "sensor": "gyroscope",
+  "X": -1.342773,
+  "Y": 0.183105,
+  "Z": 0.366211
+}{
+  "sensor": "magnometer",
+  "X": -1.342773,
+  "Y": 0.183105,
+  "Z": 0.366211,
+  "Direction": -178.0972
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.105957,
+  "Y": 0.048828,
+  "Z": 1.010742
+}{
+  "sensor": "gyroscope",
+  "X": -1.342773,
+  "Y": -0.244141,
+  "Z": 0.061035
+}{
+  "sensor": "magnometer",
+  "X": -1.342773,
+  "Y": -0.244141,
+  "Z": 0.061035,
+  "Direction": -176.4355
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.107422,
+  "Y": 0.049316,
+  "Z": 1.015137
+}{
+  "sensor": "gyroscope",
+  "X": -1.586914,
+  "Y": 0,
+  "Z": 0.488281
+}{
+  "sensor": "magnometer",
+  "X": -1.586914,
+  "Y": 0,
+  "Z": 0.488281,
+  "Direction": 176.4355
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.110352,
+  "Y": 0.049805,
+  "Z": 1.019531
+}{
+  "sensor": "gyroscope",
+  "X": -1.342773,
+  "Y": 0.244141,
+  "Z": 0.427246
+}{
+  "sensor": "magnometer",
+  "X": -1.342773,
+  "Y": 0.244141,
+  "Z": 0.427246,
+  "Direction": -178.2161
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.106934,
+  "Y": 0.047363,
+  "Z": 1.014648
+}{
+  "sensor": "gyroscope",
+  "X": -1.403809,
+  "Y": 0.061035,
+  "Z": 0.427246
+}{
+  "sensor": "magnometer",
+  "X": -1.403809,
+  "Y": 0.061035,
+  "Z": 0.427246,
+  "Direction": 180.0002
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.105957,
+  "Y": 0.044922,
+  "Z": 1.009766
+}{
+  "sensor": "gyroscope",
+  "X": -1.342773,
+  "Y": -0.12207,
+  "Z": 0.061035
+}{
+  "sensor": "magnometer",
+  "X": -1.342773,
+  "Y": -0.12207,
+  "Z": 0.061035,
+  "Direction": -178.2161
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.107422,
+  "Y": 0.047363,
+  "Z": 1.016602
+}{
+  "sensor": "gyroscope",
+  "X": -1.342773,
+  "Y": -0.061035,
+  "Z": 0.488281
+}{
+  "sensor": "magnometer",
+  "X": -1.342773,
+  "Y": -0.061035,
+  "Z": 0.488281,
+  "Direction": -176.3208
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.106934,
+  "Y": 0.045898,
+  "Z": 1.015625
+}{
+  "sensor": "gyroscope",
+  "X": -1.586914,
+  "Y": -0.061035,
+  "Z": 0.305176
+}{
+  "sensor": "magnometer",
+  "X": -1.586914,
+  "Y": -0.061035,
+  "Z": 0.305176,
+  "Direction": -178.1586
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.105469,
+  "Y": 0.046387,
+  "Z": 1.01123
+}{
+  "sensor": "gyroscope",
+  "X": -1.220703,
+  "Y": 0.12207,
+  "Z": 0.305176
+}{
+  "sensor": "magnometer",
+  "X": -1.220703,
+  "Y": 0.12207,
+  "Z": 0.305176,
+  "Direction": -178.1586
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.112305,
+  "Y": 0.050781,
+  "Z": 1.008789
+}{
+  "sensor": "gyroscope",
+  "X": -1.342773,
+  "Y": -0.12207,
+  "Z": 0.183105
+}{
+  "sensor": "magnometer",
+  "X": -1.342773,
+  "Y": -0.12207,
+  "Z": 0.183105,
+  "Direction": -178.2161
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.106445,
+  "Y": 0.047852,
+  "Z": 1.015625
+}{
+  "sensor": "gyroscope",
+  "X": -1.342773,
+  "Y": -0.183105,
+  "Z": 0.305176
+}{
+  "sensor": "magnometer",
+  "X": -1.342773,
+  "Y": -0.183105,
+  "Z": 0.305176,
+  "Direction": -178.2161
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.108398,
+  "Y": 0.047363,
+  "Z": 1.008301
+}{
+  "sensor": "gyroscope",
+  "X": -1.159668,
+  "Y": -0.061035,
+  "Z": 0.427246
+}{
+  "sensor": "magnometer",
+  "X": -1.159668,
+  "Y": -0.061035,
+  "Z": 0.427246,
+  "Direction": -178.1586
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.105469,
+  "Y": 0.047852,
+  "Z": 1.016602
+}{
+  "sensor": "gyroscope",
+  "X": -1.098633,
+  "Y": 0.061035,
+  "Z": 0.244141
+}{
+  "sensor": "magnometer",
+  "X": -1.098633,
+  "Y": 0.061035,
+  "Z": 0.244141,
+  "Direction": 180.0002
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.108887,
+  "Y": 0.045898,
+  "Z": 1.020996
+}{
+  "sensor": "gyroscope",
+  "X": -1.464844,
+  "Y": -0.305176,
+  "Z": 0.305176
+}{
+  "sensor": "magnometer",
+  "X": -1.464844,
+  "Y": -0.305176,
+  "Z": 0.305176,
+  "Direction": 180.0002
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.102539,
+  "Y": 0.046387,
+  "Z": 1.013672
+}{
+  "sensor": "gyroscope",
+  "X": -1.403809,
+  "Y": -0.12207,
+  "Z": 0.305176
+}{
+  "sensor": "magnometer",
+  "X": -1.403809,
+  "Y": -0.12207,
+  "Z": 0.305176,
+  "Direction": 180.0002
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.107422,
+  "Y": 0.049316,
+  "Z": 1.015625
+}{
+  "sensor": "gyroscope",
+  "X": -1.464844,
+  "Y": 0.12207,
+  "Z": 0.549316
+}{
+  "sensor": "magnometer",
+  "X": -1.464844,
+  "Y": 0.12207,
+  "Z": 0.549316,
+  "Direction": -176.1985
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.106445,
+  "Y": 0.04541,
+  "Z": 1.01123
+}{
+  "sensor": "gyroscope",
+  "X": -1.464844,
+  "Y": 0.061035,
+  "Z": 0.183105
+}{
+  "sensor": "magnometer",
+  "X": -1.464844,
+  "Y": 0.061035,
+  "Z": 0.183105,
+  "Direction": -176.1985
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.105957,
+  "Y": 0.050781,
+  "Z": 1.013672
+}{
+  "sensor": "gyroscope",
+  "X": -1.281738,
+  "Y": 0.061035,
+  "Z": 0
+}{
+  "sensor": "magnometer",
+  "X": -1.281738,
+  "Y": 0.061035,
+  "Z": 0,
+  "Direction": 180.0002
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.112305,
+  "Y": 0.048828,
+  "Z": 1.013672
+}{
+  "sensor": "gyroscope",
+  "X": -1.525879,
+  "Y": -0.061035,
+  "Z": 0.244141
+}{
+  "sensor": "magnometer",
+  "X": -1.525879,
+  "Y": -0.061035,
+  "Z": 0.244141,
+  "Direction": -176.4355
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.110352,
+  "Y": 0.047363,
+  "Z": 1.008301
+}{
+  "sensor": "gyroscope",
+  "X": -1.403809,
+  "Y": -0.12207,
+  "Z": 0.12207
+}{
+  "sensor": "magnometer",
+  "X": -1.403809,
+  "Y": -0.12207,
+  "Z": 0.12207,
+  "Direction": 180.0002
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.112305,
+  "Y": 0.047363,
+  "Z": 1.012207
+}{
+  "sensor": "gyroscope",
+  "X": -1.281738,
+  "Y": -0.183105,
+  "Z": 0.183105
+}{
+  "sensor": "magnometer",
+  "X": -1.281738,
+  "Y": -0.183105,
+  "Z": 0.183105,
+  "Direction": -176.0678
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.108887,
+  "Y": 0.047363,
+  "Z": 1.012695
+}{
+  "sensor": "gyroscope",
+  "X": -1.281738,
+  "Y": 0.12207,
+  "Z": 0.183105
+}{
+  "sensor": "magnometer",
+  "X": -1.281738,
+  "Y": 0.12207,
+  "Z": 0.183105,
+  "Direction": -176.3208
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.111816,
+  "Y": 0.047363,
+  "Z": 1.013672
+}{
+  "sensor": "gyroscope",
+  "X": -1.403809,
+  "Y": -0.12207,
+  "Z": 0.305176
+}{
+  "sensor": "magnometer",
+  "X": -1.403809,
+  "Y": -0.12207,
+  "Z": 0.305176,
+  "Direction": 174.3081
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.10791,
+  "Y": 0.044434,
+  "Z": 1.015625
+}{
+  "sensor": "gyroscope",
+  "X": -1.403809,
+  "Y": 0.12207,
+  "Z": 0.366211
+}{
+  "sensor": "magnometer",
+  "X": -1.403809,
+  "Y": 0.12207,
+  "Z": 0.366211,
+  "Direction": -178.1586
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.10791,
+  "Y": 0.047363,
+  "Z": 1.006348
+}{
+  "sensor": "gyroscope",
+  "X": -1.342773,
+  "Y": -0.12207,
+  "Z": 0.366211
+}{
+  "sensor": "magnometer",
+  "X": -1.342773,
+  "Y": -0.12207,
+  "Z": 0.366211,
+  "Direction": -176.5432
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.106934,
+  "Y": 0.045898,
+  "Z": 1.01123
+}{
+  "sensor": "gyroscope",
+  "X": -1.342773,
+  "Y": -0.244141,
+  "Z": 0.305176
+}{
+  "sensor": "magnometer",
+  "X": -1.342773,
+  "Y": -0.244141,
+  "Z": 0.305176,
+  "Direction": 178.1586
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.109863,
+  "Y": 0.046875,
+  "Z": 1.015625
+}{
+  "sensor": "gyroscope",
+  "X": -1.403809,
+  "Y": 0.183105,
+  "Z": 0.244141
+}{
+  "sensor": "magnometer",
+  "X": -1.403809,
+  "Y": 0.183105,
+  "Z": 0.244141,
+  "Direction": -178.2161
+}{"Sensor":"=== 10 DOF IMU Sensor V2 ===","ID":113}{
+  "sensor": "accelarator",
+  "X": 0.108398,
+  "Y": 0.047363,
+  "Z": 1.009766
+}{
+  "sensor": "gyroscope",
+  "X": -1.403809,
+  "Y": 0.061035,
+  "Z": 0.244141
+}{
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+}
\ No newline at end of file