diff --git a/Arduino/Central_HID-BT_V8/Central_HID-BT_V8.ino b/Arduino/Central_HID-BT_V8/Central_HID-BT_V8.ino
new file mode 100644
index 0000000..03e257b
--- /dev/null
+++ b/Arduino/Central_HID-BT_V8/Central_HID-BT_V8.ino
@@ -0,0 +1,153 @@
+
+#include <Mouse.h>
+#include <Keyboard.h>
+//#include <Joystick.h> // the joystick is now transmit on serial
+
+#include <SPI.h> //Call SPI library so you can communicate with the nRF24L01+
+#include <nRF24L01.h>
+#include <RF24.h>
+
+#define button 4
+
+void read_Bluetooth();
+void print_Bluetooth();
+void send_Serial(byte id_num);
+
+//Bluetooth
+byte ID = 0;
+unsigned char bt_rx[4]; // The 4 byte reception bluetooth buffer
+unsigned char bt_tx = '1'; // Calibration data
+const int pinCE = 9; //This pin is used to set the nRF24 to standby (0) or active mode (1)
+const int pinCSN = 10; //This pin is used to tell the nRF24 whether the SPI communication is a command or message to send out
+RF24 wirelessSPI(pinCE, pinCSN); // Declare object from nRF24 library (Create your wireless SPI)
+
+// Here we have 5 bluetooth nodes communicating with the central. The first address is used for the Wii Nunchuck
+//Create pipe addresses for the 5 nodes to recieve data, the "LL" is for LongLong type
+const uint64_t rAddress[] = {0xB00B1E50C3LL, 0xB00B1E50D6LL, 0xB00B1E50D2LL, 0xB00B1E50A6LL, 0xB00B1E50A0LL};
+//Create pipe addresses for the 5 nodes to transmit data, the "LL" is for LongLong type
+const uint64_t wAddress[] = {0xB00B1E50A4LL, 0xB00B1E50B5LL, 0xB00B1E50B1LL, 0xB00B1E50A8LL, 0xB00B1E50A1LL};
+
+void setup()
+{
+  pinMode(button, INPUT); // Safety button, in case of HID debugging
+  digitalWrite(button, LOW);
+
+  Serial.begin(9600);  //start serial to communication
+
+  wirelessSPI.begin();  //Start the nRF24 module
+  wirelessSPI.openReadingPipe(1, rAddress[0]);     //open pipe o for recieving meassages with pipe address
+  wirelessSPI.openReadingPipe(2, rAddress[1]);     //open pipe o for recieving meassages with pipe address
+  wirelessSPI.openReadingPipe(3, rAddress[2]);     //open pipe o for recieving meassages with pipe address
+  wirelessSPI.openReadingPipe(4, rAddress[3]);     //open pipe o for recieving meassages with pipe address
+  wirelessSPI.openReadingPipe(5, rAddress[4]);     //open pipe o for recieving meassages with pipe address
+  wirelessSPI.startListening();                 // Start listening for messages
+}
+
+void loop()
+{
+  ID = 0;
+  read_Bluetooth();
+  if (digitalRead(button) == HIGH && 1 <= ID && ID <= 10) { // From nodes 1 to 10
+    //print_Bluetooth();
+    send_Serial(ID);
+  }
+  delay(1); // check if necessary
+}
+
+
+void send_Serial(byte id_num) {
+
+  int tmp[4];
+  tmp[0] = (unsigned char)bt_rx[0];
+  tmp[1] = (unsigned char)bt_rx[1];
+  tmp[2] = (unsigned char)bt_rx[2];
+  tmp[3] = (unsigned char)bt_rx[3];
+
+  if (id_num == 1  && bt_rx[3] == 0) {
+    Serial.print('J');
+    Serial.print(','); // before the joystick didn't had any virgule, check if still ok
+  }
+  if (id_num == 2) {
+    Serial.print('A');
+    Serial.print(',');
+  }
+  if (id_num == 3) {
+    Serial.print('B');
+    Serial.print(',');
+  }
+  if (id_num == 4) {
+    Serial.print('C');
+    Serial.print(',');
+  }
+  if (id_num == 5) {
+    Serial.print('D');
+    Serial.print(',');
+  }
+  // Here we can add some node if necessary
+  if ((2 <= id_num && id_num <= 10) || (id_num == 1  && bt_rx[3] == 0)) {
+    Serial.print(tmp[0]);
+    Serial.print(",");
+    Serial.print(tmp[1]);
+    Serial.print(",");
+    Serial.print(tmp[2]);
+    Serial.print(",");
+    Serial.print(",");
+    Serial.print('\n');
+
+    delay(20); //***** check if necessary
+  }
+
+  if (id_num == 1 && bt_rx[3] == 1)
+  {
+    calibrate_nodes();
+  }
+}
+
+void calibrate_nodes() {
+  int timeout = 100; // To have a non blocking calibration **** need to check the timeout
+  wirelessSPI.stopListening(); //Stop listening, stop recieving data.
+
+  for (int i = 1; i < 5; i++) {
+    wirelessSPI.openWritingPipe(wAddress[i]);
+    timeout = 100;
+    while (!wirelessSPI.write(&bt_tx, 1) && timeout > 0) {
+      //Serial.print("Failed sending ");
+      //Serial.println(i);
+      //delayMicroseconds(100);
+      delay(1);
+      timeout--;
+    }
+    if (timeout > 0 ) {
+      //Serial.print("Success sending ");
+      //Serial.println(i);
+    } else {
+      //Serial.println("FAILED 0");
+    }
+  }
+  wirelessSPI.startListening(); //Switch back to a reciever
+}
+
+void read_Bluetooth() {
+  while (wirelessSPI.available(&ID)) { //Check if recieved data
+    wirelessSPI.read(&bt_rx, 4); //read one byte of data and store it in gotByte variable
+  }
+}
+
+void print_Bluetooth() {
+
+  Serial.print("BT rx : ");
+  Serial.print(ID);
+  Serial.print(" - ");
+  Serial.print(bt_rx[0], DEC);
+  Serial.print(" - ");
+  Serial.print(bt_rx[1], DEC);
+  Serial.print(" - ");
+  Serial.print(bt_rx[2], DEC);
+  Serial.print(" - ");
+  Serial.print(bt_rx[3], DEC);
+  Serial.println();
+}
+
+
+
+
diff --git a/Arduino/FreeIMU_cube_RX_BT/FreeIMU_cube_RX_BT.pde b/Arduino/FreeIMU_cube_RX_BT/FreeIMU_cube_RX_BT.pde
new file mode 100644
index 0000000..04bedf7
--- /dev/null
+++ b/Arduino/FreeIMU_cube_RX_BT/FreeIMU_cube_RX_BT.pde
@@ -0,0 +1,271 @@
+/**
+Visualize a cube which will assumes the orientation described
+in a quaternion coming from the serial port. 
+
+INSTRUCTIONS: 
+This program has to be run when you have the FreeIMU_quaternion
+program running on your Arduino and the Arduino connected to your PC.
+Remember to set the serialPort variable below to point to the name the
+Arduino serial port has in your system. You can get the port using the
+Arduino IDE from Tools->Serial Port: the selected entry is what you have
+to use as serialPort variable.
+
+
+Copyright (C) 2011 Fabio Varesano - http://www.varesano.net/
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the version 3 GNU General Public License as
+published by the Free Software Foundation.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+import processing.serial.*;
+
+Serial myPort;  // Create object from Serial class
+
+//final String serialPort = "/dev/tty.usbmodem1421"; // replace this with your serial port. On windows you will need something like "COM1".
+final String serialPort = "/dev/cu.usbmodemHIDK1"; // replace this with your serial port. On windows you will need something like "COM1".
+
+float [] q = new float [4];
+float [] hq = null;
+float [] Euler = new float [3]; // psi, theta, phi
+
+int lf = 10; // 10 is '\n' in ASCII
+byte[] inBuffer = new byte[22]; // this is the number of chars on each line from the Arduino (including /r/n)
+
+PFont font;
+final int VIEW_SIZE_X = 1024, VIEW_SIZE_Y = 768;
+//final int VIEW_SIZE_X = 10, VIEW_SIZE_Y = 7;
+
+void setup() 
+{
+  size(1024, 768, P3D);
+  myPort = new Serial(this, serialPort, 9600);  
+  
+  // The font must be located in the sketch's "data" directory to load successfully
+  font = loadFont("CourierNew36.vlw"); 
+  
+  /*
+  float [] axis = new float[3];
+  axis[0] = 0.0;
+  axis[1] = 0.0;
+  axis[2] = 1.0;
+  float angle = PI/2.0;
+  
+  hq = quatAxisAngle(axis, angle);
+  
+  hq = new float[4];
+  hq[0] = 0.0;
+  hq[1] = 0.0;
+  hq[2] = 0.0;
+  hq[3] = 1.0;
+  */
+  
+  delay(100);
+  myPort.clear();
+  myPort.write("1");
+}
+
+
+float decodeFloat(String inString) {
+  byte [] inData = new byte[4];
+  
+  if(inString.length() == 8) {
+    inData[0] = (byte) unhex(inString.substring(0, 2));
+    inData[1] = (byte) unhex(inString.substring(2, 4));
+    inData[2] = (byte) unhex(inString.substring(4, 6));
+    inData[3] = (byte) unhex(inString.substring(6, 8));
+  }
+      
+  int intbits = (inData[3] << 24) | ((inData[2] & 0xff) << 16) | ((inData[1] & 0xff) << 8) | (inData[0] & 0xff);
+  return Float.intBitsToFloat(intbits);
+}
+
+void readQ() {
+  if(myPort.available() >= 18) {
+    String inputString = myPort.readStringUntil('\n');
+    //print(inputString);
+    if (inputString != null && inputString.length() > 0) {
+      String [] inputStringArr = split(inputString, ",");
+      if(inputStringArr.length >= 4) { // q1,q2,q3,q4,\r\n so we have 5 elements
+      
+        Euler[0] = float(inputStringArr[1]);
+        Euler[0] = ((Euler[0] * 2.5)-320)/100;
+        Euler[1] = float(inputStringArr[2]);
+        Euler[1] = ((Euler[1] * 2.5)-320)/100;
+        Euler[2] = float(inputStringArr[3]);
+        Euler[2] = ((Euler[2] * 2.5)-320)/100;
+        //println(Euler[0]);
+      
+      /*
+        q[0] = decodeFloat(inputStringArr[0]);
+        q[1] = decodeFloat(inputStringArr[1]);
+        q[2] = decodeFloat(inputStringArr[2]);
+        q[3] = decodeFloat(inputStringArr[3]);
+        */
+      }
+    }
+  }
+}
+
+
+
+void buildBoxShape() {
+  //box(60, 10, 40);
+  noStroke();
+  beginShape(QUADS);
+  
+  //Z+ (to the drawing area)
+  fill(#00ff00);
+  vertex(-30, -5, 20);
+  vertex(30, -5, 20);
+  vertex(30, 5, 20);
+  vertex(-30, 5, 20);
+  
+  //Z-
+  fill(#0000ff);
+  vertex(-30, -5, -20);
+  vertex(30, -5, -20);
+  vertex(30, 5, -20);
+  vertex(-30, 5, -20);
+  
+  //X-
+  fill(#ff0000);
+  vertex(-30, -5, -20);
+  vertex(-30, -5, 20);
+  vertex(-30, 5, 20);
+  vertex(-30, 5, -20);
+  
+  //X+
+  fill(#ffff00);
+  vertex(30, -5, -20);
+  vertex(30, -5, 20);
+  vertex(30, 5, 20);
+  vertex(30, 5, -20);
+  
+  //Y-
+  fill(#ff00ff);
+  vertex(-30, -5, -20);
+  vertex(30, -5, -20);
+  vertex(30, -5, 20);
+  vertex(-30, -5, 20);
+  
+  //Y+
+  fill(#00ffff);
+  vertex(-30, 5, -20);
+  vertex(30, 5, -20);
+  vertex(30, 5, 20);
+  vertex(-30, 5, 20);
+  
+  endShape();
+}
+
+
+void drawCube() {  
+  pushMatrix();
+    translate(VIEW_SIZE_X/2, VIEW_SIZE_Y/2 + 50, 0);
+    scale(5,5,5);
+    
+    // a demonstration of the following is at 
+    // http://www.varesano.net/blog/fabio/ahrs-sensor-fusion-orientation-filter-3d-graphical-rotating-cube
+    rotateZ(-Euler[2]);
+    rotateX(-Euler[1]);
+    rotateY(-Euler[0]);
+    
+    buildBoxShape();
+    
+  popMatrix();
+}
+
+
+void draw() {
+  background(#000000);
+  fill(#ffffff);
+  
+  readQ();
+  
+  if(hq != null) { // use home quaternion
+    //quaternionToEuler(quatProd(hq, q), Euler);
+    text("Disable home position by pressing \"n\"", 20, VIEW_SIZE_Y - 30);
+  }
+  else {
+    //quaternionToEuler(q, Euler);
+    text("Point FreeIMU's X axis to your monitor then press \"h\"", 20, VIEW_SIZE_Y - 30);
+  }
+  
+  textFont(font, 20);
+  textAlign(LEFT, TOP);
+  text("Q:\n" + q[0] + "\n" + q[1] + "\n" + q[2] + "\n" + q[3], 20, 20);
+  text("Euler Angles:\nYaw (psi)  : " + degrees(Euler[0]) + "\nPitch (theta): " + degrees(Euler[1]) + "\nRoll (phi)  : " + degrees(Euler[2]), 200, 20);
+  
+  drawCube(); 
+}
+
+
+void keyPressed() {
+  if(key == 'h') {
+    println("pressed h");
+    
+    // set hq the home quaternion as the quatnion conjugate coming from the sensor fusion
+    hq = quatConjugate(q);
+    
+  }
+  else if(key == 'n') {
+    println("pressed n");
+    hq = null;
+  }
+}
+
+// See Sebastian O.H. Madwick report 
+// "An efficient orientation filter for inertial and intertial/magnetic sensor arrays" Chapter 2 Quaternion representation
+
+void quaternionToEuler(float [] q, float [] euler) {
+  euler[0] = atan2(2 * q[1] * q[2] - 2 * q[0] * q[3], 2 * q[0]*q[0] + 2 * q[1] * q[1] - 1); // psi
+  euler[1] = -asin(2 * q[1] * q[3] + 2 * q[0] * q[2]); // theta
+  euler[2] = atan2(2 * q[2] * q[3] - 2 * q[0] * q[1], 2 * q[0] * q[0] + 2 * q[3] * q[3] - 1); // phi
+}
+
+float [] quatProd(float [] a, float [] b) {
+  float [] q = new float[4];
+  
+  q[0] = a[0] * b[0] - a[1] * b[1] - a[2] * b[2] - a[3] * b[3];
+  q[1] = a[0] * b[1] + a[1] * b[0] + a[2] * b[3] - a[3] * b[2];
+  q[2] = a[0] * b[2] - a[1] * b[3] + a[2] * b[0] + a[3] * b[1];
+  q[3] = a[0] * b[3] + a[1] * b[2] - a[2] * b[1] + a[3] * b[0];
+  
+  return q;
+}
+
+// returns a quaternion from an axis angle representation
+float [] quatAxisAngle(float [] axis, float angle) {
+  float [] q = new float[4];
+  
+  float halfAngle = angle / 2.0;
+  float sinHalfAngle = sin(halfAngle);
+  q[0] = cos(halfAngle);
+  q[1] = -axis[0] * sinHalfAngle;
+  q[2] = -axis[1] * sinHalfAngle;
+  q[3] = -axis[2] * sinHalfAngle;
+  
+  return q;
+}
+
+// return the quaternion conjugate of quat
+float [] quatConjugate(float [] quat) {
+  float [] conj = new float[4];
+  
+  conj[0] = quat[0];
+  conj[1] = -quat[1];
+  conj[2] = -quat[2];
+  conj[3] = -quat[3];
+  
+  return conj;
+}
\ No newline at end of file
diff --git a/Arduino/FreeIMU_cube_RX_BT/data/CourierNew36.vlw b/Arduino/FreeIMU_cube_RX_BT/data/CourierNew36.vlw
new file mode 100644
index 0000000..9047714
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diff --git a/Arduino/FreeIMU_cube_RX_BT/data/MPU6050 A.png b/Arduino/FreeIMU_cube_RX_BT/data/MPU6050 A.png
new file mode 100644
index 0000000..96dda36
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new file mode 100644
index 0000000..ec1624f
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diff --git a/Arduino/FreeIMU_cube_RX_BT/data/MPU6050 E.png b/Arduino/FreeIMU_cube_RX_BT/data/MPU6050 E.png
new file mode 100644
index 0000000..6826963
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diff --git a/Arduino/FreeIMU_cube_RX_BT/data/MPU6050 F.png b/Arduino/FreeIMU_cube_RX_BT/data/MPU6050 F.png
new file mode 100644
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diff --git a/Arduino/Module_MPU6050_BT_V8/Module_MPU6050_BT_V8.ino b/Arduino/Module_MPU6050_BT_V8/Module_MPU6050_BT_V8.ino
new file mode 100644
index 0000000..b6c7a36
--- /dev/null
+++ b/Arduino/Module_MPU6050_BT_V8/Module_MPU6050_BT_V8.ino
@@ -0,0 +1,900 @@
+
+
+#include <Wire.h>
+#include <avr/interrupt.h>
+#include <avr/pgmspace.h>
+#define MPU_ADDR 0x68
+#define MEM_START_ADDR 0x6E
+#define MEM_R_W 0x6F
+
+#define NODE_NUMBER 1
+
+#include <SPI.h> //Call SPI library so you can communicate with the nRF24L01+
+#include <nRF24L01.h> //nRF2401 libarary found at https://github.com/tmrh20/RF24/
+#include <RF24.h> //nRF2401 libarary found at https://github.com/tmrh20/RF24/
+
+
+const int pinCE = 3; //This pin is used to set the nRF24 to standby (0) or active mode (1)
+const int pinCSN = 10; //This pin is used to tell the nRF24 whether the SPI communication is a command or message to send out
+byte counter = 1; //used to count the packets sent
+bool done = false; //used to know when to stop sending packets
+RF24 wirelessSPI(pinCE, pinCSN); // Create your nRF24 object or wireless SPI connection
+
+#if NODE_NUMBER == 1
+const uint64_t wAddress = 0xB00B1E50D6LL;              // Pipe to write or transmit on
+const uint64_t rAddress = 0xB00B1E50B5LL;  //pipe to recive data on
+#endif
+#if NODE_NUMBER == 2
+const uint64_t wAddress = 0xB00B1E50D2LL;              // Pipe to write or transmit on
+const uint64_t rAddress = 0xB00B1E50B1LL;  //pipe to recive data on
+#endif
+#if NODE_NUMBER == 3
+const uint64_t wAddress = 0xB00B1E50A6LL;
+const uint64_t rAddress = 0xB00B1E50A8LL;
+#endif
+#if NODE_NUMBER == 4
+const uint64_t wAddress = 0xB00B1E50A0LL;
+const uint64_t rAddress = 0xB00B1E50A1LL;
+#endif
+
+// Variable to read the sensor
+long lastRead = 0;
+byte processed_packet[8];
+byte received_packet[50];
+byte temp = 0;
+byte fifoCountL = 0;
+byte fifoCountL2 = 0;
+//byte packetCount = 0x00;
+boolean longPacket = false;
+boolean firstPacket = true;
+
+// Variable for bluetooth transmission
+unsigned char tx_data[4];
+unsigned char rx_data;
+int flag_calibration = 0;
+
+// Variable for Quaternion an Euler calculation
+float q[4]; // QUaternion received
+float q2[4];
+float hq[4]; // Quaternion Qualibration reference 
+float Euler[3]; // The three Euler angle calculated from Quaternion
+
+unsigned const char dmpMem[8][16][16] PROGMEM = {
+  {
+    {0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00},
+    {0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01},
+    {0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+    {0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00},
+    {0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01},
+    {0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+    {0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00},
+    {0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00},
+    {0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82},
+    {0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00},
+    {0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00},
+    {0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0},
+    {0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+    {0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC},
+    {0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4},
+    {0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10}
+  },
+  {
+    {0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+    {0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00},
+    {0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8},
+    {0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7},
+    {0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C},
+    {0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00},
+    {0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14},
+    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+    {0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C},
+    {0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00},
+    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30},
+    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+    {0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0}
+  },
+  {
+    {0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+    {0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00},
+    {0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00},
+    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+    {0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+    {0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+    {0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+    {0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00},
+    {0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}
+  },
+  {
+    {0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F},
+    {0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2},
+    {0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF},
+    {0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C},
+    {0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1},
+    {0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01},
+    {0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80},
+    {0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C},
+    {0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80},
+    {0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E},
+    {0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9},
+    {0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24},
+    {0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0},
+    {0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86},
+    {0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1},
+    {0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86}
+  },
+  {
+    {0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA},
+    {0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C},
+    {0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8},
+    {0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3},
+    {0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84},
+    {0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5},
+    {0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3},
+    {0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1},
+    {0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5},
+    {0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D},
+    {0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9},
+    {0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D},
+    {0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9},
+    {0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A},
+    {0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8},
+    {0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87}
+  },
+  {
+    {0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8},
+    {0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68},
+    {0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D},
+    {0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94},
+    {0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA},
+    {0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56},
+    {0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9},
+    {0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA},
+    {0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A},
+    {0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60},
+    {0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97},
+    {0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04},
+    {0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78},
+    {0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79},
+    {0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68},
+    {0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68}
+  },
+  {
+    {0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04},
+    {0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66},
+    {0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31},
+    {0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60},
+    {0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76},
+    {0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56},
+    {0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD},
+    {0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91},
+    {0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8},
+    {0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE},
+    {0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9},
+    {0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD},
+    {0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E},
+    {0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8},
+    {0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89},
+    {0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79}
+  },
+  {
+    {0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8},
+    {0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA},
+    {0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB},
+    {0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3},
+    {0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3},
+    {0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3},
+    {0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3},
+    {0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC},
+    {0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF}
+  }
+};
+
+//DMP update transmissions (Bank, Start Address, Update Length, Update Data...)
+
+static byte dmp_updates[29][9] =
+{
+  {
+    0x03, 0x7B, 0x03, 0x4C, 0xCD, 0x6C
+  } //FCFG_1 inv_set_gyro_calibration
+  ,
+  {
+    0x03, 0xAB, 0x03, 0x36, 0x56, 0x76
+  } //FCFG_3 inv_set_gyro_calibration
+  ,
+  {
+    0x00, 0x68, 0x04, 0x02, 0xCB, 0x47, 0xA2
+  } //D_0_104 inv_set_gyro_calibration
+  ,
+  {
+    0x02, 0x18, 0x04, 0x00, 0x05, 0x8B, 0xC1
+  } //D_0_24 inv_set_gyro_calibration
+  ,
+  {
+    0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00
+  } //D_1_152 inv_set_accel_calibration
+  ,
+  {
+    0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97
+  } //FCFG_2 inv_set_accel_calibration
+  ,
+  {
+    0x03, 0x89, 0x03, 0x26, 0x46, 0x66
+  } //FCFG_7 inv_set_accel_calibration
+  ,
+  {
+    0x00, 0x6C, 0x02, 0x20, 0x00
+  } //D_0_108 inv_set_accel_calibration
+  ,
+  {
+    0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00
+  } //CPASS_MTX_00 inv_set_compass_calibration
+  ,
+  {
+    0x02, 0x44, 0x04, 0x00, 0x00, 0x00, 0x00
+  } //CPASS_MTX_01
+  ,
+  {
+    0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00
+  } //CPASS_MTX_02
+  ,
+  {
+    0x02, 0x4C, 0x04, 0x00, 0x00, 0x00, 0x00
+  } //CPASS_MTX_10
+  ,
+  {
+    0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00
+  } //CPASS_MTX_11
+  ,
+  {
+    0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00
+  } //CPASS_MTX_12
+  ,
+  {
+    0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00
+  } //CPASS_MTX_20
+  ,
+  {
+    0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00
+  } //CPASS_MTX_21
+  ,
+  {
+    0x02, 0xBC, 0x04, 0x00, 0x00, 0x00, 0x00
+  } //CPASS_MTX_22
+  ,
+  {
+    0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00
+  } //D_1_236 inv_apply_endian_accel
+  ,
+  {
+    0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97
+  } //FCFG_2 inv_set_mpu_sensors
+  ,
+  {
+    0x04, 0x02, 0x03, 0x0D, 0x35, 0x5D
+  } //CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
+  ,
+  {
+    0x04, 0x09, 0x04, 0x87, 0x2D, 0x35, 0x3D
+  } //FCFG_5 inv_set_bias_update
+  ,
+  {
+    0x00, 0xA3, 0x01, 0x00
+  } //D_0_163 inv_set_dead_zone
+  ,
+  //SET INT_ENABLE at i=22
+  {
+    0x07, 0x86, 0x01, 0xFE
+  } //CFG_6 inv_set_fifo_interupt
+  ,
+  {
+    0x07, 0x41, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38
+  } //CFG_8 inv_send_quaternion
+  ,
+  {
+    0x07, 0x7E, 0x01, 0x30
+  } //CFG_16 inv_set_footer
+  ,
+  {
+    0x07, 0x46, 0x01, 0x9A
+  } //CFG_GYRO_SOURCE inv_send_gyro
+  ,
+  {
+    0x07, 0x47, 0x04, 0xF1, 0x28, 0x30, 0x38
+  } //CFG_9 inv_send_gyro -> inv_construct3_fifo
+  ,
+  {
+    0x07, 0x6C, 0x04, 0xF1, 0x28, 0x30, 0x38
+  } //CFG_12 inv_send_accel -> inv_construct3_fifo
+  ,
+  {
+    0x02, 0x16, 0x02, 0x00, 0x0A
+  } //D_0_22 inv_set_fifo_rate
+};
+
+void setup() {
+
+  Serial.begin(9600);   //start serial to communicate process
+  wirelessSPI.begin();            //Start the nRF24 module
+  wirelessSPI.openWritingPipe(wAddress);        //open writing or transmit pipe
+  wirelessSPI.openReadingPipe(1, rAddress); //open reading or recieve pipe
+  wirelessSPI.stopListening(); //go into transmit mode
+
+  Wire.begin();
+  delay(1);
+  check_MPU();
+  //Serial.println("MPU-6050 6-Axis");
+
+  regWrite(0x6B, 0xC0);
+  regWrite(0x6C, 0x00);
+  delay(10);
+
+  //regWrite(0x6B, 0x70);
+  regWrite(0x6B, 0x00);
+  regWrite(0x6D, 0x70);
+  regWrite(0x6E, 0x06);
+  temp = regRead(0x6F);
+  //Serial.print("Bank 1, Reg 6 = ");
+  //Serial.println(temp, HEX);
+
+  // temp = regRead(0x6B);
+  // Serial.println(temp, HEX);
+
+  regWrite(0x6D, 0x00);
+
+  temp = regRead(0x00);
+  //Serial.println(temp, HEX);
+  temp = regRead(0x01);
+  //Serial.println(temp, HEX);
+  temp = regRead(0x02);
+  //Serial.println(temp, HEX);
+  temp = regRead(0x6A);
+  //Serial.println(temp, HEX);
+
+  regWrite(0x37, 0x32);
+
+  temp = regRead(0x6B);
+  //Serial.println(temp, HEX);
+  delay(5);
+  // regWrite(0x25, 0x68); //Set Slave 0 to self
+  //
+  // regWrite(0x6A, 0x02);
+
+  mem_init();
+  delay(20);
+}
+
+void loop() {
+  // =========================================================
+  // This part is from the DOF sensor exemple
+
+  if (millis() >= lastRead + 1) {
+    lastRead = millis();
+
+    int toto = fifoReady();
+    if ( toto == 1) {
+      getPacket();
+      temp = regRead(0x3A);
+      if (firstPacket) {
+        delay(1);
+        bank_sel(0x00);
+        regWrite(0x6E, 0x60);
+        Wire.beginTransmission(MPU_ADDR);
+        Wire.write(0x6F);
+        Wire.write(0x04); Wire.write(0x00); Wire.write(0x00); Wire.write(0x00);
+        // Wire.write(0x00); Wire.write(0x80); Wire.write(0x00); Wire.write(0x00);
+        Wire.endTransmission();
+        bank_sel(1);
+        regWrite(0x6E, 0x62);
+        Wire.beginTransmission(MPU_ADDR);
+        Wire.write(0x6F);
+        Wire.endTransmission();
+        Wire.beginTransmission(MPU_ADDR);
+        Wire.requestFrom(MPU_ADDR, 2);
+        temp = Wire.read();
+        temp = Wire.read();
+        firstPacket = false;
+
+        fifoReady();
+      }
+      // resetFifo();
+
+      // =====================================================
+      // If the fifo count is good, enter the function to transform Quaternions to
+      // Euler, send the Bluetooth data, and read Bluetooth for recalibration.
+      if (fifoCountL == 42) {
+        processQuat();
+        sendQuat();
+        if (flag_calibration == 1) { // use home quaternion
+          //Serial.println("HQ Activate");
+          quatProd(hq, q);
+          quaternionToEuler(q2, Euler);
+          print_data(); // use the print data for debugging purposes is you have a Serial port
+        }
+        else {
+          quaternionToEuler(q, Euler);
+        }
+
+        pack_data(); // Function to pack and store the data into tx_data[] for Bluetooth
+        if (!wirelessSPI.write( &tx_data, 4 )) {
+          Serial.println("Guess delivery failed");
+        }
+        else {
+          Serial.println("Success sending guess: ");
+        }
+
+        // ================================================================
+        // This part read shortly the bluetooth in case a recalibration message is send from the central
+        wirelessSPI.startListening();
+        rx_data = '0';
+        for (int i = 0; i < 10; i++) {
+          if (!wirelessSPI.available()) {
+            delayMicroseconds(100);
+          }
+          else {
+            wirelessSPI.read( &rx_data, 1); //read value
+          }
+        }
+        if (rx_data == '1') {
+          Serial.println("Calibration OK");
+          quatConjugate(q); // store the Quaternions into reference Quaternion hq[]
+          flag_calibration = 1; // Flag to use the qualibration
+        }
+        wirelessSPI.stopListening(); //go back to transmit mode
+      }
+    }
+  }
+  delay(10);
+}
+
+void pack_data() {
+
+  int tmp0 = Euler[0] * 100;
+  int tmp1 = Euler[1] * 100;
+  int tmp2 = Euler[2] * 100;
+
+  tmp0 = map(tmp0, -320, 320, 0, 255);
+  tmp1 = map(tmp1, -320, 320, 0, 255);
+  tmp2 = map(tmp2, -320, 320, 0, 255);
+  tx_data[0] =  tmp0;
+  tx_data[1] =  tmp1;
+  tx_data[2] =  tmp2;
+  // tx_data[3] is empty. So we can add the buttons action in this byte
+}
+
+void print_data() {
+  Serial.print("  HQ :  ");
+  Serial.print(hq[0], 3);
+  Serial.print("  ---  ");
+  Serial.print(hq[1], 3);
+  Serial.print("  ---  ");
+  Serial.print(hq[2], 3);
+  Serial.print("  ---  ");
+  Serial.print(hq[3], 3);
+  Serial.print("  Q :  ");
+  Serial.print(q[0], 3);
+  Serial.print("  ---  ");
+  Serial.print(q[1], 3);
+  Serial.print("  ---  ");
+  Serial.print(q[2], 3);
+  Serial.print("  ---  ");
+  Serial.print(q[3], 3);
+  Serial.print("  Euler :  ");
+  Serial.print(Euler[0], 3);
+  Serial.print("  ---  ");
+  Serial.print(Euler[1], 3);
+  Serial.print("  ---  ");
+  Serial.print(Euler[2], 3);
+  Serial.println();
+}
+
+void check_MPU() {
+
+  Wire.beginTransmission(MPU_ADDR);
+  Wire.write(0x75);
+  Wire.endTransmission();
+  Wire.beginTransmission(MPU_ADDR);
+  Wire.requestFrom(MPU_ADDR, 1);
+  byte aByte = Wire.read();
+  // Wire.endTransmission();
+  // while(Wire.available() == 0){
+  // }
+  // byte temp = Wire.read();
+  // Serial.println(temp);
+  if (aByte == 0x68) {
+    //Serial.println("Found MPU6050");
+  }
+  else {
+    Serial.println("Didn't find MPU6050");
+  }
+}
+
+void processQuat() {
+  processed_packet[0] = received_packet[0];
+  processed_packet[1] = received_packet[1];
+  processed_packet[2] = received_packet[4];
+  processed_packet[3] = received_packet[5];
+  processed_packet[4] = received_packet[8];
+  processed_packet[5] = received_packet[9];
+  processed_packet[6] = received_packet[12];
+  processed_packet[7] = received_packet[13];
+}
+
+void sendQuat() {
+
+  // following conversion adapted from Invensense's TeaPot example
+  q[0] = (long) ((((unsigned long) processed_packet[0]) << 8) + ((unsigned long) processed_packet[1]));
+  q[1] = (long) ((((unsigned long) processed_packet[2]) << 8) + ((unsigned long) processed_packet[3]));
+  q[2] = (long) ((((unsigned long) processed_packet[4]) << 8) + ((unsigned long) processed_packet[5]));
+  q[3] = (long) ((((unsigned long) processed_packet[6]) << 8)  + ((unsigned long) processed_packet[7]));
+  for (int i = 0; i < 4; i++ ) {
+    if ( q[i] > 32767 ) {
+      q[i] -= 65536;
+    }
+    q[i] = ((float) q[i]) / 16384.0f;
+  }
+}
+
+void quaternionToEuler(float q[4], float euler[3]) {
+  euler[0] = atan2(2 * q[1] * q[2] - 2 * q[0] * q[3], 2 * q[0] * q[0] + 2 * q[1] * q[1] - 1); // psi
+  euler[1] = -asin(2 * q[1] * q[3] + 2 * q[0] * q[2]); // theta
+  euler[2] = atan2(2 * q[2] * q[3] - 2 * q[0] * q[1], 2 * q[0] * q[0] + 2 * q[3] * q[3] - 1); // phi
+}
+
+void quatProd(float a[4], float b[4]) {
+
+  q2[0] = a[0] * b[0] - a[1] * b[1] - a[2] * b[2] - a[3] * b[3];
+  q2[1] = a[0] * b[1] + a[1] * b[0] + a[2] * b[3] - a[3] * b[2];
+  q2[2] = a[0] * b[2] - a[1] * b[3] + a[2] * b[0] + a[3] * b[1];
+  q2[3] = a[0] * b[3] + a[1] * b[2] - a[2] * b[1] + a[3] * b[0];
+
+}
+
+void quatConjugate(float quat[]) {
+
+  hq[0] = quat[0];
+  hq[1] = -quat[1];
+  hq[2] = -quat[2];
+  hq[3] = -quat[3];
+
+  //return conj;
+}
+
+void bank_sel(byte bank) {
+  Wire.beginTransmission(MPU_ADDR);
+  Wire.write(0x6D);
+  Wire.write(bank);
+  Wire.endTransmission();
+}
+
+void dmp_init() {
+
+  for (int i = 0; i < 7; i++) {
+    bank_sel(i);
+    for (byte j = 0; j < 16; j++) {
+
+      byte start_addy = j * 0x10;
+
+      Wire.beginTransmission(MPU_ADDR);
+      Wire.write(MEM_START_ADDR);
+      Wire.write(start_addy);
+      Wire.endTransmission();
+
+      Wire.beginTransmission(MPU_ADDR);
+      Wire.write(MEM_R_W);
+      for (int k = 0; k < 16; k++) {
+        unsigned char byteToSend = pgm_read_byte(&(dmpMem[i][j][k]));
+        Wire.write((byte) byteToSend);
+      }
+      Wire.endTransmission();
+    }
+
+    // Wire.beginTransmission(MPU_ADDR);
+    // Wire.write(MEM_R_W);
+    // Wire.endTransmission();
+    // Wire.requestFrom(MPU_ADDR, 16);
+    // byte echoback[16];
+    // for(int j = 0; j < 16; j++){
+    // echoback[j] = Wire.read();
+    // }
+    // for(int j = 0; j < 16; j++){
+    // Serial.print(echoback[j], HEX);
+    // }
+  }
+
+  bank_sel(7);
+
+  for (byte j = 0; j < 8; j++) {
+
+    byte start_addy = j * 0x10;
+
+    Wire.beginTransmission(MPU_ADDR);
+    Wire.write(MEM_START_ADDR);
+    Wire.write(start_addy);
+    Wire.endTransmission();
+
+    Wire.beginTransmission(MPU_ADDR);
+    Wire.write(MEM_R_W);
+    for (int k = 0; k < 16; k++) {
+      unsigned char byteToSend = pgm_read_byte(&(dmpMem[7][j][k]));
+      Wire.write((byte) byteToSend);
+    }
+    Wire.endTransmission();
+  }
+
+  Wire.beginTransmission(MPU_ADDR);
+  Wire.write(MEM_START_ADDR);
+  Wire.write(0x80);
+  Wire.endTransmission();
+
+  Wire.beginTransmission(MPU_ADDR);
+  Wire.write(MEM_R_W);
+  for (int k = 0; k < 9; k++) {
+    unsigned char byteToSend = pgm_read_byte(&(dmpMem[7][8][k]));
+    Wire.write((byte) byteToSend);
+  }
+  Wire.endTransmission();
+
+  Wire.beginTransmission(MPU_ADDR);
+  Wire.write(MEM_R_W);
+  Wire.endTransmission();
+  Wire.beginTransmission(MPU_ADDR);
+  Wire.requestFrom(MPU_ADDR, 9);
+  // Wire.endTransmission();
+  byte incoming[9];
+  for (int i = 0; i < 9; i++) {
+    incoming[i] = Wire.read();
+  }
+}
+
+void mem_init() {
+
+  dmp_init();
+
+  for (byte i = 0; i < 22; i++) {
+    bank_sel(dmp_updates[i][0]);
+    Wire.beginTransmission(MPU_ADDR);
+    Wire.write(MEM_START_ADDR);
+    Wire.write(dmp_updates[i][1]);
+    Wire.endTransmission();
+
+    Wire.beginTransmission(MPU_ADDR);
+    Wire.write(MEM_R_W);
+    for (byte j = 0; j < dmp_updates[i][2]; j++) {
+      Wire.write(dmp_updates[i][j + 3]);
+    }
+    Wire.endTransmission();
+  }
+
+  regWrite(0x38, 0x32);
+
+  for (byte i = 22; i < 29; i++) {
+    bank_sel(dmp_updates[i][0]);
+    Wire.beginTransmission(MPU_ADDR);
+    Wire.write(MEM_START_ADDR);
+    Wire.write(dmp_updates[i][1]);
+    Wire.endTransmission();
+
+    Wire.beginTransmission(MPU_ADDR);
+    Wire.write(MEM_R_W);
+    for (byte j = 0; j < dmp_updates[i][2]; j++) {
+      Wire.write(dmp_updates[i][j + 3]);
+    }
+    Wire.endTransmission();
+  }
+
+  temp = regRead(0x6B);
+  //Serial.println(temp, HEX);
+  temp = regRead(0x6C);
+  //Serial.println(temp, HEX);
+
+  regWrite(0x38, 0x02);
+  regWrite(0x6B, 0x03);
+  // regWrite(0x6B, 0x70);
+  // regWrite(0x38, 0x38);
+  // regWrite(0x6B, 0x73);
+  regWrite(0x19, 0x04);
+  regWrite(0x1B, 0x18);
+  regWrite(0x1A, 0x0B);
+  regWrite(0x70, 0x03);
+  regWrite(0x71, 0x00);
+  regWrite(0x00, 0x00);
+  regWrite(0x01, 0x00);
+  regWrite(0x02, 0x00);
+
+  Wire.beginTransmission(MPU_ADDR);
+  Wire.write(0x13);
+  for (byte i = 0; i < 6; i++) {
+    Wire.write(0x00);
+  }
+  Wire.endTransmission();
+
+  // regWrite(0x24, 0x00);
+
+  bank_sel(0x01);
+  regWrite(0x6E, 0xB2);
+  Wire.beginTransmission(MPU_ADDR);
+  Wire.write(0x6F);
+  Wire.write(0xFF); Wire.write(0xFF);
+  Wire.endTransmission();
+
+  bank_sel(0x01);
+  regWrite(0x6E, 0x90);
+
+  Wire.beginTransmission(MPU_ADDR);
+  Wire.write(0x6F);
+  Wire.write(0x09); Wire.write(0x23); Wire.write(0xA1); Wire.write(0x35);
+  Wire.endTransmission();
+
+  temp = regRead(0x6A);
+
+  regWrite(0x6A, 0x04);
+
+  //Insert FIFO count read?
+  fifoReady();
+
+  regWrite(0x6A, 0x00);
+  regWrite(0x6B, 0x03);
+
+  delay(2);
+
+  temp = regRead(0x6C);
+  // Serial.println(temp, HEX);
+  regWrite(0x6C, 0x00);
+  temp = regRead(0x1C);
+  // Serial.println(temp, HEX);
+  regWrite(0x1C, 0x00);
+  delay(2);
+  temp = regRead(0x6B);
+  // Serial.println(temp, HEX);
+  regWrite(0x1F, 0x02);
+  regWrite(0x21, 0x9C);
+  regWrite(0x20, 0x50);
+  regWrite(0x22, 0x00);
+  regWrite(0x6A, 0x04);
+  regWrite(0x6A, 0x00);
+  regWrite(0x6A, 0xC8);
+
+  bank_sel(0x01);
+  regWrite(0x6E, 0x6A);
+  Wire.beginTransmission(MPU_ADDR);
+  Wire.write(0x6F);
+  Wire.write(0x06); Wire.write(0x00);
+  Wire.endTransmission();
+
+  bank_sel(0x01);
+  regWrite(0x6E, 0x60);
+  Wire.beginTransmission(MPU_ADDR);
+  Wire.write(0x6F);
+  for (byte i = 0; i < 8; i++) {
+    Wire.write(0x00);
+  }
+  Wire.endTransmission();
+
+  // bank_sel(0x01);
+  // regWrite(0x6E, 0x60);
+  // Wire.beginTransmission(MPU_ADDR);
+  // Wire.write(0x6F);
+  // Wire.write(0x04); Wire.write(0x00); Wire.write(0x00); Wire.write(0x00);
+  // Wire.endTransmission();
+
+  bank_sel(0x00);
+  regWrite(0x6E, 0x60);
+  Wire.beginTransmission(MPU_ADDR);
+  Wire.write(0x6F);
+  Wire.write(0x40); Wire.write(0x00); Wire.write(0x00); Wire.write(0x00);
+  Wire.endTransmission();
+
+  //resetFifo();
+
+}
+
+void regWrite(byte addy, byte regUpdate) {
+  Wire.beginTransmission(MPU_ADDR);
+  Wire.write(addy);
+  Wire.write(regUpdate);
+  Wire.endTransmission();
+}
+
+byte regRead(byte addy) {
+  Wire.beginTransmission(MPU_ADDR);
+  Wire.write(addy);
+  Wire.endTransmission();
+  Wire.beginTransmission(MPU_ADDR);
+  Wire.requestFrom(MPU_ADDR, 1);
+  // Wire.endTransmission();
+  while (!Wire.available()) {
+  }
+  byte incoming = Wire.read();
+  return incoming;
+}
+
+void getPacket() {
+  if (fifoCountL > 32) {
+    fifoCountL2 = fifoCountL - 32;
+    longPacket = true;
+  }
+  Wire.beginTransmission(MPU_ADDR);
+  Wire.write(0x74);
+  Wire.endTransmission();
+  // Wire.requestFrom(MPU_ADDR, 42);
+  // for(byte i = 0; i < fifoCountL; i++){
+  if (longPacket) {
+    Wire.beginTransmission(MPU_ADDR);
+    Wire.requestFrom(MPU_ADDR, 32);
+    for (byte i = 0; i < 32; i++) {
+      received_packet[i] = Wire.read();
+    }
+    Wire.beginTransmission(MPU_ADDR);
+    Wire.write(0x74);
+    Wire.endTransmission();
+    Wire.beginTransmission(MPU_ADDR);
+    Wire.requestFrom(MPU_ADDR, (unsigned int)fifoCountL2);
+    for (byte i = 32; i < fifoCountL; i++) {
+      received_packet[i] = Wire.read();
+    }
+    longPacket = false;
+  }
+  else {
+    Wire.beginTransmission(MPU_ADDR);
+    Wire.requestFrom(MPU_ADDR, (unsigned int)fifoCountL);
+    for (byte i = 0; i < fifoCountL; i++) {
+      received_packet[i] = Wire.read();
+    }
+  }
+}
+
+byte read_interrupt() {
+  byte int_status = regRead(0x3A);
+  return int_status;
+}
+
+boolean fifoReady() {
+  Wire.beginTransmission(MPU_ADDR);
+  Wire.write(0x72);
+  Wire.endTransmission();
+  Wire.beginTransmission(MPU_ADDR);
+  Wire.requestFrom(MPU_ADDR, 2);
+  // Wire.endTransmission();
+  byte fifoCountH = Wire.read();
+  fifoCountL = Wire.read();
+  //Serial.print("fifoCount :");
+  //Serial.println(fifoCountL, DEC);
+  if (fifoCountL == 42 || fifoCountL == 44) {
+    return 1;
+  }
+  else if (fifoCountL != 0) {
+    resetFifo();
+  }
+
+  // else if(fifoCountL == 42){
+  // getPacket();
+  // bank_sel(0);
+  // regWrite(0x6E, 0x60);
+  // Wire.beginTransmission(MPU_ADDR);
+  // Wire.write(0x40); Wire.write(0x00); Wire.write (0x00); Wire.write(0x00);
+  // Wire.endTransmission();
+  // resetFifo();
+  // }
+
+  // if(Wire.read() == 0x2C){
+  // return 1;
+  // }
+  else return 0;
+}
+
+void resetFifo() {
+  byte ctrl = regRead(0x6A);
+  ctrl |= 0b00000100;
+  regWrite(0x6A, ctrl);
+}
+
diff --git a/Arduino/Module_Wiichuck_BT_V8/Module_Wiichuck_BT_V8.ino b/Arduino/Module_Wiichuck_BT_V8/Module_Wiichuck_BT_V8.ino
new file mode 100644
index 0000000..7cbe1cf
--- /dev/null
+++ b/Arduino/Module_Wiichuck_BT_V8/Module_Wiichuck_BT_V8.ino
@@ -0,0 +1,71 @@
+
+#include "Wire.h"
+#include "WiiChuck.h"
+
+#include <SPI.h> //Call SPI library so you can communicate with the nRF24L01+
+#include <nRF24L01.h> //nRF2401 libarary found at https://github.com/tmrh20/RF24/
+#include <RF24.h> //nRF2401 libarary found at https://github.com/tmrh20/RF24/
+
+const int pinCE = 9; //This pin is used to set the nRF24 to standby (0) or active mode (1)
+const int pinCSN = 10; //This pin is used to tell the nRF24 whether the SPI communication is a command or message to send out
+//bool done = false; //used to know when to stop sending guesses
+RF24 wirelessSPI(pinCE, pinCSN); // Create your nRF24 object or wireless SPI connection
+
+const uint64_t wAddress = 0xB00B1E50C3LL;  //pipe for writing or transmitting data
+const uint64_t rAddress = 0xB00B1E50A4LL;  //pipe for reading or recieving data
+
+int buttonPin = 2;
+int flag_zero = 0;
+
+WiiChuck chuck = WiiChuck();
+
+void setup() {
+  
+  Serial.begin(9600);   //for debugging purposes
+  chuck.begin();
+  chuck.update();
+  
+  wirelessSPI.begin();            //Start the nRF24 module
+  wirelessSPI.openWritingPipe(wAddress);    // setup pipe to transmit over
+  wirelessSPI.openReadingPipe(1, rAddress); //set up pipe to recieve data
+  wirelessSPI.stopListening();  //turn off recieve capability so you can transmit
+
+}
+
+void loop() {
+
+  char tx_data[4];
+  chuck.update();
+
+  tx_data[0] = chuck.readJoyX();
+  tx_data[1] = chuck.readJoyY();
+  tx_data[2] = chuck.buttonZ;
+  tx_data[3] = chuck.buttonC;
+ 
+  Serial.print(tx_data[0], DEC);
+  Serial.print(",");
+  Serial.print(tx_data[1], DEC);
+  Serial.print(",");
+  Serial.print(tx_data[2], DEC);
+  Serial.print(",");
+  Serial.print(tx_data[3], DEC);
+  Serial.print(",");
+  Serial.println();
+
+  if (digitalRead(buttonPin) == HIGH  && ((tx_data[0] < -10 || 10 < tx_data[0] || tx_data[1] < -10 || 10 < tx_data[1] || tx_data[2] == 1 || tx_data[3] == 1) || flag_zero == 1 )) {
+    flag_zero = 1;
+    if (!wirelessSPI.write( &tx_data, 4 )) { //if the write fails let the user know over serial monitor
+      //Serial.println("Guess delivery failed");
+    }
+    else { //if the write was successful
+      //Serial.print("Success sending guess: ");
+      if (tx_data[0] >= -10 || 10 >= tx_data[0] || tx_data[1] >= -10 || 10 >= tx_data[1] || tx_data[2] != 1 || tx_data[3] != 1)
+      {
+        flag_zero = 0;
+      }
+    }
+  }
+  delay(20); // adapt the speed of the communication
+}
+
+
diff --git a/Blender/DBZ/Goku/Goku.mtl b/Blender/DBZ/Goku/Goku.mtl
deleted file mode 100644
index e69de29..0000000
diff --git a/Blender/DBZ/Goku/Goku.obj b/Blender/DBZ/Goku/Goku.obj
deleted file mode 100644
index e69de29..0000000
diff --git a/Blender/DBZ/Goku/Goku.png b/Blender/DBZ/Goku/Goku.png
old mode 100644
new mode 100755
diff --git a/Blender/DBZ/Goku/eyes.png b/Blender/DBZ/Goku/eyes.png
old mode 100644
new mode 100755
diff --git a/Blender/DBZ/Goku/face.png b/Blender/DBZ/Goku/face.png
old mode 100644
new mode 100755
diff --git a/Blender/DBZ/Goku/goku_armL.mtl b/Blender/DBZ/Goku/goku_armL.mtl
index e08242f..e404f5c 100644
--- a/Blender/DBZ/Goku/goku_armL.mtl
+++ b/Blender/DBZ/Goku/goku_armL.mtl
@@ -1,8 +1,8 @@
-# Blender MTL File: 'goku_armL.blend'
+# Blender MTL File: 'Full_remake.blend'
 # Material Count: 1
 
-newmtl shirt.png
-Ns 94.117647
+newmtl shirt.png.002
+Ns 92.156863
 Ka 0.000000 0.000000 0.000000
 Kd 0.800000 0.800000 0.800000
 Ks 0.250000 0.250000 0.250000
diff --git a/Blender/DBZ/Goku/goku_armL.obj b/Blender/DBZ/Goku/goku_armL.obj
index 37d82e7..9c6b97e 100644
--- a/Blender/DBZ/Goku/goku_armL.obj
+++ b/Blender/DBZ/Goku/goku_armL.obj
@@ -1,146 +1,174 @@
-# Blender v2.78 (sub 0) OBJ File: 'goku_armL.blend'
+# Blender v2.78 (sub 0) OBJ File: 'Full_remake.blend'
 # www.blender.org
 mtllib goku_armL.mtl
-o Mesh.404_DrawCall_231
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-v 1.126765 -2.407274 -0.227489
-v 1.370082 -1.614613 -1.580644
-v 1.765187 -0.697361 -2.237194
+o Mesh.404_DrawCall_231.003
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+v 10.930234 28.725132 0.016538
+v 11.077776 28.282543 -0.233056
+v 8.939523 26.906860 1.859334
+v 6.952586 26.784100 1.056149
+v 5.877120 26.870625 0.500139
+v 6.254176 27.697834 -0.800667
+v 6.439101 28.633369 -1.423820
+vt 0.8009 0.5043
+vt 0.8083 0.4910
+vt 0.8361 0.5184
 vt 0.8207 0.4848
 vt 0.8523 0.4848
-vt 0.8361 0.5184
 vt 0.8662 0.4917
 vt 0.8734 0.5065
 vt 0.8734 0.5322
@@ -148,41 +176,67 @@ vt 0.8643 0.5446
 vt 0.8499 0.5525
 vt 0.8231 0.5525
 vt 0.8100 0.5438
+vt 0.8009 0.5337
 vt 0.9629 0.1660
 vt 0.9668 0.2129
 vt 0.8926 0.1660
-vt 0.8083 0.4910
-vt 0.8009 0.5337
+vt 0.8223 0.1660
+vt 0.8574 0.1660
+vt 0.8223 0.0840
 vt 0.8926 0.0840
+vt 0.9590 0.0840
 vt 0.8574 0.1660
 vt 0.8926 0.2129
 vt 0.8574 0.2129
 vt 0.8926 0.2441
 vt 0.8574 0.2441
 vt 0.8926 0.2441
+vt 0.8574 0.2441
+vt 0.8926 0.2129
+vt 0.8574 0.2129
+vt 0.8926 0.1660
+vt 0.8926 0.0840
+vt 0.8926 0.0410
+vt 0.8223 0.0410
+vt 0.8926 0.0059
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+vt 0.8223 0.0840
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diff --git a/Blender/DBZ/Goku/goku_armR.mtl b/Blender/DBZ/Goku/goku_armR.mtl
index 2e13e29..ffdf750 100644
--- a/Blender/DBZ/Goku/goku_armR.mtl
+++ b/Blender/DBZ/Goku/goku_armR.mtl
@@ -1,8 +1,8 @@
-# Blender MTL File: 'goku_armR.blend'
+# Blender MTL File: 'Full_remake.blend'
 # Material Count: 1
 
-newmtl shirt.png
-Ns 94.117647
+newmtl shirt.png.003
+Ns 92.156863
 Ka 0.000000 0.000000 0.000000
 Kd 0.800000 0.800000 0.800000
 Ks 0.250000 0.250000 0.250000
diff --git a/Blender/DBZ/Goku/goku_armR.obj b/Blender/DBZ/Goku/goku_armR.obj
index 75b2f75..75042bb 100644
--- a/Blender/DBZ/Goku/goku_armR.obj
+++ b/Blender/DBZ/Goku/goku_armR.obj
@@ -1,169 +1,154 @@
-# Blender v2.78 (sub 0) OBJ File: 'goku_armR.blend'
+# Blender v2.78 (sub 0) OBJ File: 'Full_remake.blend'
 # www.blender.org
 mtllib goku_armR.mtl
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@@ -202,7 +187,6 @@ vt 0.8223 0.0059
 vt 0.8926 0.0410
 vt 0.8223 0.0410
 vt 0.8223 0.0840
-vt 0.8223 0.1660
 vt 0.8223 0.2129
 vt 0.8223 0.2441
 vt 0.8223 0.2441
@@ -219,21 +203,17 @@ vt 0.9590 0.0059
 vt 0.9590 0.0410
 vt 0.9590 0.0840
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-vt 0.6074 0.8027
-vt 0.6074 0.7715
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 vt 0.5527 0.9902
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@@ -243,22 +223,15 @@ vt 0.3262 0.8301
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-vt 0.3769 0.7402
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-vt 0.3496 0.7754
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+vt 0.5332 0.7402
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@@ -283,14 +257,13 @@ vt 0.5840 0.8965
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diff --git a/Blender/DBZ/Goku/goku_body.mtl b/Blender/DBZ/Goku/goku_body.mtl
index 8f63855..456edf9 100644
--- a/Blender/DBZ/Goku/goku_body.mtl
+++ b/Blender/DBZ/Goku/goku_body.mtl
@@ -1,8 +1,8 @@
-# Blender MTL File: 'goku_body.blend'
+# Blender MTL File: 'Full_remake.blend'
 # Material Count: 2
 
-newmtl face.png
-Ns 94.117647
+newmtl face.png.002
+Ns 92.156863
 Ka 0.000000 0.000000 0.000000
 Kd 0.800000 0.800000 0.800000
 Ks 0.250000 0.250000 0.250000
@@ -12,8 +12,8 @@ d 1.000000
 illum 2
 map_Kd face.png
 
-newmtl shirt.png
-Ns 94.117647
+newmtl shirt.png.006
+Ns 92.156863
 Ka 0.000000 0.000000 0.000000
 Kd 0.800000 0.800000 0.800000
 Ks 0.250000 0.250000 0.250000
diff --git a/Blender/DBZ/Goku/goku_body.obj b/Blender/DBZ/Goku/goku_body.obj
index ee71f45..db268ff 100644
--- a/Blender/DBZ/Goku/goku_body.obj
+++ b/Blender/DBZ/Goku/goku_body.obj
@@ -1,448 +1,289 @@
-# Blender v2.78 (sub 0) OBJ File: 'goku_body.blend'
+# Blender v2.78 (sub 0) OBJ File: 'Full_remake.blend'
 # www.blender.org
 mtllib goku_body.mtl
-o Mesh.404_DrawCall_231
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-v 1.382983 7.618939 -0.765207
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-v -0.361732 5.619477 1.002603
-v 1.052431 8.606648 -1.649043
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diff --git a/Blender/DBZ/Goku/goku_but.obj b/Blender/DBZ/Goku/goku_but.obj
deleted file mode 100644
index 5d3e8ef..0000000
--- a/Blender/DBZ/Goku/goku_but.obj
+++ /dev/null
@@ -1,796 +0,0 @@
-# Blender v2.78 (sub 0) OBJ File: 'goku_but.blend'
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diff --git a/Blender/DBZ/Goku/goku_but.mtl b/Blender/DBZ/Goku/goku_butt.mtl
similarity index 79%
rename from Blender/DBZ/Goku/goku_but.mtl
rename to Blender/DBZ/Goku/goku_butt.mtl
index 3094459..e3c6101 100644
--- a/Blender/DBZ/Goku/goku_but.mtl
+++ b/Blender/DBZ/Goku/goku_butt.mtl
@@ -1,8 +1,8 @@
-# Blender MTL File: 'goku_but.blend'
+# Blender MTL File: 'Full_remake.blend'
 # Material Count: 1
 
 newmtl pants.png
-Ns 94.117647
+Ns 92.156863
 Ka 0.000000 0.000000 0.000000
 Kd 0.800000 0.800000 0.800000
 Ks 0.250000 0.250000 0.250000
diff --git a/Blender/DBZ/Goku/goku_butt.obj b/Blender/DBZ/Goku/goku_butt.obj
new file mode 100644
index 0000000..16edaa7
--- /dev/null
+++ b/Blender/DBZ/Goku/goku_butt.obj
@@ -0,0 +1,768 @@
+# Blender v2.78 (sub 0) OBJ File: 'Full_remake.blend'
+# www.blender.org
+mtllib goku_butt.mtl
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diff --git a/Blender/DBZ/Goku/goku_foot.obj b/Blender/DBZ/Goku/goku_foot.obj
deleted file mode 100644
index 6788ae9..0000000
--- a/Blender/DBZ/Goku/goku_foot.obj
+++ /dev/null
@@ -1,1271 +0,0 @@
-# Blender v2.78 (sub 0) OBJ File: 'goku_foot.blend'
-# www.blender.org
-mtllib goku_foot.mtl
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diff --git a/Blender/DBZ/Goku/goku_foot.mtl b/Blender/DBZ/Goku/goku_footL.mtl
similarity index 76%
rename from Blender/DBZ/Goku/goku_foot.mtl
rename to Blender/DBZ/Goku/goku_footL.mtl
index f3c0218..d8f8df8 100644
--- a/Blender/DBZ/Goku/goku_foot.mtl
+++ b/Blender/DBZ/Goku/goku_footL.mtl
@@ -1,8 +1,8 @@
-# Blender MTL File: 'goku_foot.blend'
+# Blender MTL File: 'Full_remake.blend'
 # Material Count: 2
 
-newmtl face.png
-Ns 94.117647
+newmtl face.png.007
+Ns 92.156863
 Ka 0.000000 0.000000 0.000000
 Kd 0.800000 0.800000 0.800000
 Ks 0.250000 0.250000 0.250000
@@ -12,8 +12,8 @@ d 1.000000
 illum 2
 map_Kd face.png
 
-newmtl pants.png
-Ns 94.117647
+newmtl pants.png.008
+Ns 92.156863
 Ka 0.000000 0.000000 0.000000
 Kd 0.800000 0.800000 0.800000
 Ks 0.250000 0.250000 0.250000
diff --git a/Blender/DBZ/Goku/goku_footL.obj b/Blender/DBZ/Goku/goku_footL.obj
new file mode 100644
index 0000000..a47342b
--- /dev/null
+++ b/Blender/DBZ/Goku/goku_footL.obj
@@ -0,0 +1,1332 @@
+# Blender v2.78 (sub 0) OBJ File: 'Full_remake.blend'
+# www.blender.org
+mtllib goku_footL.mtl
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diff --git a/Blender/DBZ/Goku/goku_legs.mtl b/Blender/DBZ/Goku/goku_footR.mtl
similarity index 76%
rename from Blender/DBZ/Goku/goku_legs.mtl
rename to Blender/DBZ/Goku/goku_footR.mtl
index f7cdb83..aec0262 100644
--- a/Blender/DBZ/Goku/goku_legs.mtl
+++ b/Blender/DBZ/Goku/goku_footR.mtl
@@ -1,8 +1,8 @@
-# Blender MTL File: 'goku_legs.blend'
+# Blender MTL File: 'Full_remake.blend'
 # Material Count: 2
 
-newmtl face.png
-Ns 94.117647
+newmtl face.png.006
+Ns 92.156863
 Ka 0.000000 0.000000 0.000000
 Kd 0.800000 0.800000 0.800000
 Ks 0.250000 0.250000 0.250000
@@ -12,8 +12,8 @@ d 1.000000
 illum 2
 map_Kd face.png
 
-newmtl pants.png
-Ns 94.117647
+newmtl pants.png.007
+Ns 92.156863
 Ka 0.000000 0.000000 0.000000
 Kd 0.800000 0.800000 0.800000
 Ks 0.250000 0.250000 0.250000
diff --git a/Blender/DBZ/Goku/goku_footR.obj b/Blender/DBZ/Goku/goku_footR.obj
new file mode 100644
index 0000000..83894d4
--- /dev/null
+++ b/Blender/DBZ/Goku/goku_footR.obj
@@ -0,0 +1,1265 @@
+# Blender v2.78 (sub 0) OBJ File: 'Full_remake.blend'
+# www.blender.org
+mtllib goku_footR.mtl
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diff --git a/Blender/DBZ/Goku/goku_full.mtl b/Blender/DBZ/Goku/goku_full.mtl
deleted file mode 100644
index ac669b1..0000000
--- a/Blender/DBZ/Goku/goku_full.mtl
+++ /dev/null
@@ -1,57 +0,0 @@
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diff --git a/Blender/DBZ/Goku/goku_full.obj b/Blender/DBZ/Goku/goku_full.obj
deleted file mode 100644
index 9b5394f..0000000
--- a/Blender/DBZ/Goku/goku_full.obj
+++ /dev/null
@@ -1,15236 +0,0 @@
-# Blender v2.78 (sub 0) OBJ File: 'goku_full.blend'
-# www.blender.org
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-f 1953/2307/1341 1889/2254/1272 1913/2253/1296
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-f 1953/2307/1341 1951/2300/1336 1889/2254/1272
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-f 1868/2331/1251 1880/2332/1263 1962/2323/1350
-f 1933/2333/1318 1919/2321/1302 1962/2323/1350
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-f 1304/2191/1236 1853/2189/1234 1302/2336/1359
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-f 1296/2337/1360 1924/2303/1307 1294/2302/1337
-f 1883/2221/1266 1882/2220/1265 1952/2338/1338
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-f 1929/2274/1314 1302/2336/1359 1853/2189/1234
-f 1961/2320/1349 1971/2339/1361 1959/2318/1347
-f 1888/2226/1271 1886/2224/1269 1972/2340/1362
-f 1851/2187/1232 1848/2184/1229 1930/2275/1315
-f 1889/2254/1272 1888/2341/1271 1912/2252/1295
-f 1973/2342/1363 1974/2343/1364 1954/2310/1342
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-f 1909/2249/1292 1911/2251/1294 1908/2345/1291
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-f 1866/2347/1249 1962/2344/1350 1968/2329/1356
-f 1933/2333/1318 1962/2344/1350 1880/2348/1263
-f 1934/2349/1319 1975/2350/1365 1908/2345/1291
-f 1960/2319/1348 1959/2318/1347 1976/2351/1366
-f 1977/2352/1367 1902/2240/1285 1899/2237/1282
-f 1978/2353/1368 1896/2234/1279 1898/2236/1281
-f 1977/2352/1367 1921/2264/1304 1902/2240/1285
-f 1893/2308/1276 1954/2310/1342 1895/2354/1278
-f 1978/2353/1368 1898/2236/1281 1958/2315/1346
-f 1973/2342/1363 1954/2310/1342 1890/2309/1273
-f 1967/2355/1355 1966/2356/1354 1979/2357/1369
-f 1949/2298/1334 1946/2295/1331 1980/2358/1370
-f 1941/2316/1326 1958/2315/1346 1898/2236/1281
-f 1927/2270/1310 1908/2345/1291 1910/2250/1293
-f 1938/2286/1323 1945/2313/1330 1940/2289/1325
-f 1934/2349/1319 1908/2345/1291 1925/2359/1308
-f 1981/2360/1371 1908/2345/1291 1975/2350/1365
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-f 2011/2394/1401 2000/2398/1390 1999/2397/1389
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-f 2012/2400/1402 2014/2403/1404 2001/2406/1391
-f 1895/2354/1278 1903/2241/1286 1897/2243/1280
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-f 1954/2310/1342 1900/2238/1283 1903/2241/1286
-f 1974/2343/1364 1900/2238/1283 1954/2310/1342
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-f 1939/2287/1324 1981/2433/1371 1975/2431/1365
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-f 1298/2273/1313 1971/2339/1361 1296/2337/1360
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diff --git a/Blender/DBZ/Goku/goku_handL.mtl b/Blender/DBZ/Goku/goku_handL.mtl
index de19da6..9c0f17c 100644
--- a/Blender/DBZ/Goku/goku_handL.mtl
+++ b/Blender/DBZ/Goku/goku_handL.mtl
@@ -1,8 +1,8 @@
-# Blender MTL File: 'goku_handL.blend'
+# Blender MTL File: 'Full_remake.blend'
 # Material Count: 3
 
-newmtl face.png
-Ns 94.117647
+newmtl face.png.004
+Ns 92.156863
 Ka 0.000000 0.000000 0.000000
 Kd 0.800000 0.800000 0.800000
 Ks 0.250000 0.250000 0.250000
@@ -12,8 +12,8 @@ d 1.000000
 illum 2
 map_Kd face.png
 
-newmtl pants.png
-Ns 94.117647
+newmtl pants.png.003
+Ns 92.156863
 Ka 0.000000 0.000000 0.000000
 Kd 0.800000 0.800000 0.800000
 Ks 0.250000 0.250000 0.250000
@@ -23,8 +23,8 @@ d 1.000000
 illum 2
 map_Kd pants.png
 
-newmtl shirt.png
-Ns 94.117647
+newmtl shirt.png.004
+Ns 92.156863
 Ka 0.000000 0.000000 0.000000
 Kd 0.800000 0.800000 0.800000
 Ks 0.250000 0.250000 0.250000
diff --git a/Blender/DBZ/Goku/goku_handL.obj b/Blender/DBZ/Goku/goku_handL.obj
index aec336f..afd2b90 100644
--- a/Blender/DBZ/Goku/goku_handL.obj
+++ b/Blender/DBZ/Goku/goku_handL.obj
@@ -1,454 +1,574 @@
-# Blender v2.78 (sub 0) OBJ File: 'goku_handL.blend'
+# Blender v2.78 (sub 0) OBJ File: 'Full_remake.blend'
 # www.blender.org
 mtllib goku_handL.mtl
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diff --git a/Blender/DBZ/Goku/goku_handR.mtl b/Blender/DBZ/Goku/goku_handR.mtl
index 3bb07a7..38cf870 100644
--- a/Blender/DBZ/Goku/goku_handR.mtl
+++ b/Blender/DBZ/Goku/goku_handR.mtl
@@ -1,8 +1,8 @@
-# Blender MTL File: 'goku_handR.blend'
+# Blender MTL File: 'Full_remake.blend'
 # Material Count: 3
 
-newmtl face.png
-Ns 94.117647
+newmtl face.png.005
+Ns 92.156863
 Ka 0.000000 0.000000 0.000000
 Kd 0.800000 0.800000 0.800000
 Ks 0.250000 0.250000 0.250000
@@ -12,8 +12,8 @@ d 1.000000
 illum 2
 map_Kd face.png
 
-newmtl pants.png
-Ns 94.117647
+newmtl pants.png.004
+Ns 92.156863
 Ka 0.000000 0.000000 0.000000
 Kd 0.800000 0.800000 0.800000
 Ks 0.250000 0.250000 0.250000
@@ -23,10 +23,10 @@ d 1.000000
 illum 2
 map_Kd pants.png
 
-newmtl shirt.png
-Ns 94.117647
+newmtl shirt.png.005
+Ns 92.156863
 Ka 0.000000 0.000000 0.000000
-Kd 1.000000 0.617207 0.417885
+Kd 0.800000 0.800000 0.800000
 Ks 0.250000 0.250000 0.250000
 Ke 0.000000 0.000000 0.000000
 Ni 1.000000
diff --git a/Blender/DBZ/Goku/goku_handR.obj b/Blender/DBZ/Goku/goku_handR.obj
index e685bc7..b3a9c21 100644
--- a/Blender/DBZ/Goku/goku_handR.obj
+++ b/Blender/DBZ/Goku/goku_handR.obj
@@ -1,333 +1,429 @@
-# Blender v2.78 (sub 0) OBJ File: 'goku_handR.blend'
+# Blender v2.78 (sub 0) OBJ File: 'Full_remake.blend'
 # www.blender.org
 mtllib goku_handR.mtl
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diff --git a/Blender/DBZ/Goku/goku_head.mtl b/Blender/DBZ/Goku/goku_head.mtl
index 5057a51..1362466 100644
--- a/Blender/DBZ/Goku/goku_head.mtl
+++ b/Blender/DBZ/Goku/goku_head.mtl
@@ -1,8 +1,8 @@
-# Blender MTL File: 'goku_head.blend'
+# Blender MTL File: 'Full_remake.blend'
 # Material Count: 4
 
 newmtl eyes.png
-Ns 94.117647
+Ns 92.156863
 Ka 0.000000 0.000000 0.000000
 Kd 0.800000 0.800000 0.800000
 Ks 0.250000 0.250000 0.250000
@@ -12,8 +12,8 @@ d 1.000000
 illum 2
 map_Kd eyes.png
 
-newmtl face.png
-Ns 94.117647
+newmtl face.png.001
+Ns 92.156863
 Ka 0.000000 0.000000 0.000000
 Kd 0.800000 0.800000 0.800000
 Ks 0.250000 0.250000 0.250000
@@ -24,7 +24,7 @@ illum 2
 map_Kd face.png
 
 newmtl hair.png
-Ns 94.117647
+Ns 92.156863
 Ka 0.000000 0.000000 0.000000
 Kd 0.027208 0.027208 0.027208
 Ks 0.024625 0.024625 0.024625
@@ -34,8 +34,8 @@ d 1.000000
 illum 2
 map_Kd hair.png
 
-newmtl shirt.png
-Ns 94.117647
+newmtl shirt.png.001
+Ns 92.156863
 Ka 0.000000 0.000000 0.000000
 Kd 0.800000 0.800000 0.800000
 Ks 0.250000 0.250000 0.250000
diff --git a/Blender/DBZ/Goku/goku_head.obj b/Blender/DBZ/Goku/goku_head.obj
index d0016f0..4d2850b 100644
--- a/Blender/DBZ/Goku/goku_head.obj
+++ b/Blender/DBZ/Goku/goku_head.obj
@@ -1,1435 +1,924 @@
-# Blender v2.78 (sub 0) OBJ File: 'goku_head.blend'
+# Blender v2.78 (sub 0) OBJ File: 'Full_remake.blend'
 # www.blender.org
 mtllib goku_head.mtl
-o Mesh.404_DrawCall_231
-v 0.230782 -0.412127 2.720888
-v 0.388481 -0.447270 2.652164
-v 0.238249 -0.268563 2.690797
-v 0.352781 -0.508395 2.656869
-v 0.516635 -0.505111 2.543111
-v 0.433533 -0.549983 2.569743
-v 0.496207 -0.728571 2.491015
-v 0.420326 -0.699432 2.529503
-v 0.355928 -0.840064 2.571945
-v 0.336653 -0.788051 2.593241
-v 0.250268 -0.901307 2.605495
-v 0.237964 -0.814178 2.630243
-v 0.123250 -0.824848 2.646761
-v 0.010762 -0.830947 2.650404
-v 0.005104 -0.754658 2.601923
-v -0.103309 -0.837679 2.648589
-v 0.110397 -0.746510 2.597495
-v 0.219807 -0.731976 2.581350
-v 0.300464 -0.713932 2.557275
-v 0.352263 -0.674644 2.537432
-v 0.356530 -0.598104 2.559232
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diff --git a/Blender/DBZ/Goku/goku_legL.mtl b/Blender/DBZ/Goku/goku_legL.mtl
index 36152e6..40b545c 100644
--- a/Blender/DBZ/Goku/goku_legL.mtl
+++ b/Blender/DBZ/Goku/goku_legL.mtl
@@ -1,8 +1,8 @@
-# Blender MTL File: 'goku_legL.blend'
+# Blender MTL File: 'Full_remake.blend'
 # Material Count: 1
 
-newmtl pants.png
-Ns 94.117647
+newmtl pants.png.005
+Ns 92.156863
 Ka 0.000000 0.000000 0.000000
 Kd 0.800000 0.800000 0.800000
 Ks 0.250000 0.250000 0.250000
diff --git a/Blender/DBZ/Goku/goku_legL.obj b/Blender/DBZ/Goku/goku_legL.obj
index b0881ac..5835425 100644
--- a/Blender/DBZ/Goku/goku_legL.obj
+++ b/Blender/DBZ/Goku/goku_legL.obj
@@ -1,98 +1,100 @@
-# Blender v2.78 (sub 0) OBJ File: 'goku_legL.blend'
+# Blender v2.78 (sub 0) OBJ File: 'Full_remake.blend'
 # www.blender.org
 mtllib goku_legL.mtl
-o Mesh.404_DrawCall_231
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diff --git a/Blender/DBZ/Goku/goku_legR.mtl b/Blender/DBZ/Goku/goku_legR.mtl
new file mode 100644
index 0000000..06c3873
--- /dev/null
+++ b/Blender/DBZ/Goku/goku_legR.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'Full_remake.blend'
+# Material Count: 1
+
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+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
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+illum 2
+map_Kd pants.png
diff --git a/Blender/DBZ/Goku/goku_legR.obj b/Blender/DBZ/Goku/goku_legR.obj
new file mode 100644
index 0000000..7d53485
--- /dev/null
+++ b/Blender/DBZ/Goku/goku_legR.obj
@@ -0,0 +1,272 @@
+# Blender v2.78 (sub 0) OBJ File: 'Full_remake.blend'
+# www.blender.org
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diff --git a/Blender/DBZ/Goku/goku_legs.obj b/Blender/DBZ/Goku/goku_legs.obj
deleted file mode 100644
index 5d62861..0000000
--- a/Blender/DBZ/Goku/goku_legs.obj
+++ /dev/null
@@ -1,3764 +0,0 @@
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-f 602/1010/602 614/1127/614 600/1008/600
-f 594/999/594 214/1128/214 216/1001/216
-f 592/997/592 214/1128/214 594/999/594
-f 592/997/592 212/1129/212 214/1128/214
-f 669/1130/669 212/1129/212 592/997/592
-f 599/1007/599 686/1126/686 601/1009/601
-f 588/993/588 591/996/591 685/1124/685
-f 673/1108/673 604/1012/604 606/1014/606
-f 671/1106/671 673/1108/673 670/1104/670
-f 672/1131/672 609/1019/609 608/1132/608
-f 683/1133/683 589/994/589 681/1117/681
-f 606/1014/606 670/1104/670 673/1108/673
-f 670/1104/670 606/1014/606 211/1016/211
-f 211/1016/211 212/1134/212 669/1103/669
-f 616/1027/616 596/1002/596 597/1004/597
-f 590/995/590 669/1130/669 592/997/592
-f 603/1011/603 601/1009/601 686/1126/686
-f 365/651/365 378/673/378 380/675/380 382/677/382 384/679/384 386/681/386 388/683/388 349/635/349 351/637/351 353/639/353 355/641/355 357/643/357 359/645/359 361/647/361 363/649/363
diff --git a/Blender/DBZ/Goku/pants.png b/Blender/DBZ/Goku/pants.png
old mode 100644
new mode 100755
diff --git a/Blender/DBZ/Goku/shirt.png b/Blender/DBZ/Goku/shirt.png
old mode 100644
new mode 100755
diff --git a/Pictures/Be_Your_Hero_Cover.jpg b/Pictures/Be_Your_Hero_Cover.jpg
new file mode 100755
index 0000000..ecf84b5
Binary files /dev/null and b/Pictures/Be_Your_Hero_Cover.jpg differ
diff --git a/src/HELLO.py b/src/HELLO.py
old mode 100644
new mode 100755
diff --git a/src/RUN.py b/src/RUN.py
old mode 100644
new mode 100755
index 7cf26e9..f3f9da1
--- a/src/RUN.py
+++ b/src/RUN.py
@@ -5,24 +5,32 @@ import math,random
 import pi3d
 import avatars
 import maps
+import objects
 #import sys
 from serial_data import Serial_data
 #sys.path.insert(0, "../python-vrzero")
 from vrzero import engine
 
-USE_SERIAL = True
-USE_STEREO = False
-USE_TUNNEL = True
-SHOW_STAT = True
+###### Select the mode here
+USE_SERIAL = False # try the app without a serial connection, keyboard still work
+USE_STEREO = False # Mode Stereoscopic
+USE_TUNNEL = True # If mode stereo is on, use Tunnel effect
+SHOW_STAT = False # Show FPS stat (Calibrated for Raspberry Pi)
 
-DEFAULT_SCREEN_WIDTH=1920
-DEFAULT_SCREEN_HEIGHT=1080
+# Change screen size to adapt your config
+DEFAULT_SCREEN_WIDTH=300
+DEFAULT_SCREEN_HEIGHT=200
 DEFAULT_EYE_SEPERATION=0.65
 
+# height of the camera
 DEFAULT_AVATAR_EYE_HEIGHT = 4.0
-DEFAULT_AVATAR_MOVEMENT_SPEED = 1.0
+DEFAULT_AVATAR_MOVEMENT_SPEED = 0.6
 
+# two maps for now, so Hall (True) or Forest (False) :)
 MAP_HALL = True
+# Select your Avatars here (you can manualy add more)
+AVATAR_1 = 'Lego'
+AVATAR_2 = 'Roshi'
 
 if(USE_STEREO):
   engine.show_stats=SHOW_STAT
@@ -33,12 +41,9 @@ if(USE_STEREO):
   engine.hmd_screen_width = DEFAULT_SCREEN_WIDTH
   engine.hmd_screen_height = DEFAULT_SCREEN_HEIGHT
   engine.hmd_eye_seperation = DEFAULT_EYE_SEPERATION
-
-
   engine.init()
   #engine.use_crosseyed_method=False
 
-
 # Setup display and initialise pi3d
 if(USE_STEREO == False):
   DISPLAY = pi3d.Display.create()
@@ -50,30 +55,53 @@ if(USE_STEREO == False):
 
 #========================================
 
-# Create Hero & map
+# Create Hero & map, Select your avatars here
 #avatar = avatars.cloud()
-avatar = avatars.link()
-avatar2 = avatars.roshi()
+if AVATAR_1 == 'Link':
+  avatar = avatars.link()
+elif AVATAR_1 == 'Cloud':
+  avatar = avatars.cloud()
+elif AVATAR_1 == 'Lego':
+  avatar = avatars.lego()
+elif AVATAR_1 == 'Roshi':
+  avatar = avatars.roshi()
+elif AVATAR_1 == 'Goku':
+  avatar = avatars.goku()
+elif AVATAR_1 == 'Goomba':
+  avatar = avatars.goomba()
+
+if AVATAR_2 == 'Link':
+  avatar2 = avatars.link()
+elif AVATAR_2 == 'Cloud':
+  avatar2 = avatars.cloud()
+elif AVATAR_2 == 'Lego':
+  avatar2 = avatars.lego()
+elif AVATAR_2 == 'Roshi':
+  avatar2 = avatars.roshi()
+elif AVATAR_2 == 'Goku':
+  avatar2 = avatars.goku()
+
 if MAP_HALL:
   map1 = maps.hall()
 else:
   map1 = maps.forest()
-#avatar = avatars.goku()
 
-#avatar camera
-rot = 0.0
-tilt = -7.0
+bulle = objects.object()
 
+#avatar
+step = [0.0, 0.0, 0.0]
 xm = 0.0
 zm = 0.0
 if MAP_HALL:
-  avhgt = 15
+  avhgt = 15 # doit etre DEFAULT_AVATAR_EYE_HEIGHT
   ym = avhgt
 else:
-  avhgt = 9#9
+  avhgt = 9
   ym = map1.mymap.calcHeight(xm, zm) + avhgt
 
-step = [0.0, 0.0, 0.0]
+# camera position
+rot = 0.0
+tilt = -7.0
 norm = None
 crab = False
 roll = 0.0
@@ -82,20 +110,21 @@ roll = 0.0
 #distance_hero = 15
 synchro_serial=0
 movement = 0
+mv_tmp = 0
 mv_run = 0
 mv_run_diff = 0
-avatar_speed = 0.6
+avatar_speed = DEFAULT_AVATAR_MOVEMENT_SPEED
 lx = 0
 ly = 0
 lz = 0
 orientation = 0
 camera_distance = -13
 
-shader = pi3d.Shader("uv_light")
+
+shader_light = pi3d.Shader("uv_light")
 coffimg = pi3d.Texture("../textures/COFFEE.PNG")
 earth = pi3d.Texture("../textures/rock1.png")
 flatsh = pi3d.Shader("uv_flat")
-#font = pi3d.Pngfont("../fonts/GillSansMT.png", (221,0,170,255))
 font = pi3d.Pngfont("../fonts/GillSansMT.png", (255,80,0,255))
 mystring = pi3d.String(font=font, string="NOW NO EXCUSES", size=0.8, x=2, y=2, z=2, is_3d=True)
 mystring2 = pi3d.String(font=font, string="BE YOUR HERO !!!", size=0.8, x=2, y=2, z=2, is_3d=True)
@@ -119,10 +148,6 @@ pos_forarmR = [0, 0, 0]
 pos_armL = [0, 0, 0]
 pos_forarmL = [0, 0, 0]
 body_orientation = 0
-joystick_h_axis_pos = 0.0
-joystick_v_axis_pos = 0.0
-joystick_right_h_axis_pos = 0.0
-joystick_right_v_axis_pos = 0.0
 timer =0
 keep_running = True
 
@@ -132,7 +157,7 @@ if(USE_STEREO == False):
   CAMERA = pi3d.Camera(absolute=False)
 
 def roger_handler(sensor, Euler0, Euler1, Euler2):
-  global pos_armR, pos_forarmR, pos_armL, pos_forarmL, timer, body_orientation, step, crab, mv_run, mv_run_diff, xm, zm
+  global pos_armR, pos_forarmR, pos_armL, pos_forarmL, timer, body_orientation, mv_run, mv_run_diff, xm, zm
   timer += 1
   print("Sensor:", sensor)
   if timer == 13:
@@ -150,7 +175,6 @@ def roger_handler(sensor, Euler0, Euler1, Euler2):
     avatar.armR.rotateToY(math.degrees(-Euler0))
     #pos_forarmR = [-Euler0 - pos_armL[0], -Euler0 - pos_armL[1], -Euler0 - pos_armL[2]]
 
-
   elif sensor == 'D':
     avatar.head.rotateToZ(math.degrees(-Euler1))
     avatar.head.rotateToX(math.degrees(-Euler2))
@@ -159,10 +183,7 @@ def roger_handler(sensor, Euler0, Euler1, Euler2):
     #if timer == 1:
     #  print("                                        Avant : E0 = ", math.degrees(Euler0), " E1 = ", math.degrees(Euler1), " E2 = ", math.degrees(Euler2))
   elif sensor == 'J':
-
-    
     #print("JOY {:03.2f} {:03.2f}".format(Euler0, Euler1))
-    
     if Euler0 <= 128 and Euler1 <= 128:
       body_orientation = 270 - Euler1 #
     elif Euler0 >= 128 and Euler1 <= 128:
@@ -200,8 +221,6 @@ def roger_handler(sensor, Euler0, Euler1, Euler2):
 
     #print(xm, ym, zm, "Euler : ",joystick_v_axis_pos, joystick_h_axis_pos )
 
-    avatar.center.rotateToY(body_orientation)  
-
   else:
     print("unhandled sensor:", sensor)
 
@@ -220,7 +239,7 @@ def update():
       pass
     else:
       engine.avatar_y_pos = map1.mymap.calcHeight(x, z+18) + engine.avatar_eye_height +0
-
+  
   if not USE_STEREO:
     if step != [0.0, 0.0, 0.0]: #i.e. previous loop set movmement
       pass
@@ -231,6 +250,7 @@ def update():
       ym += avhgt
       #print(" Position : ", xm, " === ", ym, " === ",zm, " === ")
       step = [0.0, 0.0, 0.0]
+  
 
   map1.myecube.position(xm, ym, zm)
   roll = 0.0
@@ -238,20 +258,17 @@ def update():
   #avatar.body.position(xm, mymap.calcHeight(xm, zm+distance_hero)+5.5, zm+distance_hero)
 
   if MAP_HALL:
-    #avatar.body.position(xm, ym+0, zm) # goku
     avatar.center.position(xm, ym-5, zm) # others
     avatar2.center.position(-10, 10, 15) # equivalent a -13, 15 et 0
-    mystring.position(-10, ym+2.5, 14.9)
-    mystring2.position(-10, ym+1.5, 14.9)
-    mycone.position(-10, ym+2, 15)
-    myPlane.position(-10, ym+2, 15)
+    #bulle.Position(xm,ym,zm)
+    mystring.position(-10, 18.5, 14.9)
+    mystring2.position(-10, 17.5, 14.9)
+    #bulle.mycone.position(-10, ym+2, 15)
+    myPlane.position(-10, 18, 15)
   else:
-    avatar.center.position(xm, map1.mymap.calcHeight(xm, zm)+1, zm)
+    avatar.center.position(xm, map1.mymap.calcHeight(xm, zm), zm)
     avatar2.center.position(-30, map1.mymap.calcHeight(-30, 80), 80)
-    print(xm, ym, zm)
-  
-  #roger.body.position(0, mymap.calcHeight(0, 28)+7, 28)
-  #mv_run += 0.05
+    #print(xm, ym, zm)
 
   if(mv_run_diff > 0):
     avatar.run(mv_run, mv_run_diff)
@@ -263,7 +280,8 @@ def update():
   if (synchro_serial > 0): 
     synchro_serial -=1
 
-  mycone.rotateToY(movement)
+  avatar.center.rotateToY(body_orientation)
+  #bulle.mycone.rotateToY(movement)
 
   mv_run_diff=0
   lx = xm
@@ -284,12 +302,18 @@ def update_scenario():
       zm = 13
     elif 14.5 <= zm and zm <= 16:
       zm = 16
-    myPlane.draw(shader, [earth])
-    mystring.draw()
-    mystring2.draw()
-    #mycone.draw(shader, [coffimg])
+      #bulle.myPlane.draw(shader_light, [earth])
+      mystring.draw()
+      mystring2.draw()
+      myPlane.draw(shader_light, [earth])
+   
 
 def draw():
+  global mv_tmp
+  mv_tmp += 0.2
+
+  #bulle.mycone.draw(shader, [coffimg])
+  #avatar.handR.rotateToY(50 * math.sin(mv_tmp))
   avatar2.center.draw()
   avatar.center.draw()
   map1.mymap.draw()
@@ -299,26 +323,44 @@ def draw():
   
 
 def read_inputs():
-  global step, crab, mymouse, my, mx, rot, tilt, keep_running, xm, zm
+  global mymouse, my, mx, rot, tilt, keep_running, xm, zm, mv_run, mv_run_diff, body_orientation
 
-  #Press ESCAPE to terminate
-  k = mykeys.read()
+  k = mykeys.read() # Read Keyboard inputs
+  
   if k >-1:
     if k == 119:  #key w forward
       zm+=1
+      mv_run += math.fabs(avatar_speed*2/3)
+      mv_run_diff = 1
+      body_orientation = 180
     elif k == 115:  #kry s back
       zm+= -1
-    elif k == 97:   #key a crab left
-      xm+=1
-    elif k == 100:  #key d crab right
+      mv_run += math.fabs(avatar_speed*2/3)
+      mv_run_diff = 1
+      body_orientation = 0
+    elif k == 97:   #key a left
       xm+= -1
+      mv_run += math.fabs(avatar_speed*2/3)
+      mv_run_diff = 1
+      body_orientation = 90
+    elif k == 100:  #key d right
+      xm+=1
+      mv_run += math.fabs(avatar_speed*2/3)
+      mv_run_diff = 1
+      body_orientation = 270
     elif k == 112:  #key p picture
       pi3d.screenshot("forestWalk" + str(scshots) + ".jpg")
       scshots += 1
     elif k == 10:   #key RETURN
       mc = 0
-    elif k == 27:  #Escape key
-      keep_running = False
+    elif k == 27:  #Escape key to exit
+      print("***** Try to quit *****")
+      if USE_STEREO:
+        engine.hmd.close()
+        engine.DISPLAY.destroy()
+        engine.keep_running = False
+      else:
+        keep_running = False
       mykeys.close()
       if USE_SERIAL:
         ser.stop()
@@ -336,7 +378,7 @@ def read_inputs():
 
 
 def camera_update():
-  global xm, ym, zm, rot, tilt, step, norm, crab
+  global xm, ym, zm, rot, tilt, norm
   camRad = [camera_distance, camera_distance, camera_distance]
   #print("DBG {:03.2f},{:03.2f},{:03.2f} dist {:03.2f},{:03.2f},{:03.2f}".format(xm, ym, zm, *step))
   #xm, ym, zm = CAMERA.relocate(rot, tilt, point=[xm, ym, zm], distance=step, 
@@ -348,11 +390,10 @@ def camera_update():
     CAMERA.relocate(rot, tilt, point=[xm, map1.mymap.calcHeight(xm, zm)+3, zm], distance=camRad)
   CAMERA.rotateZ(roll)
 
-#CAMERA.relocate(rot, tilt, [0.0, 0.0, 0.0], camRad)
-
 # Main loop
 if(USE_STEREO):
   while engine.DISPLAY.loop_running() or engine.keep_running:
+      #read_inputs()
       engine.poll_inputs()
       engine.update_avatar()
       update()
@@ -364,11 +405,11 @@ if(USE_STEREO):
 
 else: # not stereo
   while DISPLAY.loop_running() or keep_running:
+    read_inputs()
     camera_update()
     update()
     update_scenario()
     draw()
-    read_inputs()
   print(" STOP STOP")
 
   
diff --git a/src/avatars.py b/src/avatars.py
old mode 100644
new mode 100755
index 7f213d2..e416231
--- a/src/avatars.py
+++ b/src/avatars.py
@@ -19,75 +19,114 @@ class BaseAvatar:
       setattr(self, name, BaseAvatar.FakeModel())
 
 
-class cloud(object):
+class cloud(BaseAvatar):
 
   def __init__(self):
-    self.body = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_Body.obj", name="monument")
-    #body.translate(90.0, -mymap.calcHeight(100.0, 235) + 20.0, 235.0)
+    super().__init__()
     shader = pi3d.Shader("uv_flat")
-    self.body.set_shader(shader)
-    self.body.scale(6, 6, 6)
-    #self.body.rotateToY(90)
 
-    self.head = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_head.obj", name="monument", cy=-0.88, cz=-0.0)
+    self.center = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_butt.obj")
+    self.center.set_shader(shader)
+    self.center.scale(6, 6, 6)
+
+    self.body = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_Body.obj")
+    self.body.set_shader(shader)
+    self.head = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_head.obj", cy=-0.88, cz=-0.0)
     self.head.set_shader(shader)
-    self.butt = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_butt.obj", name="monument")
-    self.butt.set_shader(shader)
-                
-    self.armR = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_armR.obj", name="monument", cy=-0.85, cx=0.08, cz=-0.06)
+
+    self.armR = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_armR.obj", cy=-0.85, cx=0.08, cz=-0.06)
     self.armR.set_shader(shader)
-    self.forarmR = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_forarmR.obj", name="monument", cy=-0.85, cx=0.23, cz=-0)
+    self.forarmR = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_forarmR.obj", cy=-0.85, cx=0.23, cz=-0)
     self.forarmR.set_shader(shader)
-    self.handR = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_handR.obj", name="monument", cy=-8.8, cx=4.4, cz=-0.7)
+    self.handR = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_handR.obj", cy=-8.8, cx=4.4, cz=-0.7)
     self.handR.set_shader(shader)
 
     self.armL = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_armL.obj", cy=-0.85, cx=-0.08, cz=-0.02)
     self.armL.set_shader(shader)
-    self.forarmL = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_forarmL.obj", name="monument", cy=-0.65, cx=-0.12, cz=-0.04)
+    self.forarmL = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_forarmL.obj", cy=-0.65, cx=-0.12, cz=-0.04)
     self.forarmL.set_shader(shader)
 
-    self.legL = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_legL.obj", name="monument", cy = -0.53)
+    self.legL = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_legL.obj", cy = -0.53)
     self.legL.set_shader(shader)
-    #self.legL.scale(0.75, 0.75, 0.75)
-    self.footL = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_footL.obj", name="monument", cy = -0.28)
+    self.footL = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_footL.obj", cy = -0.28)
     self.footL.set_shader(shader)
-    #self.footL.scale(1.1, 1.1, 1.1)
 
-    self.legR = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_legR.obj", name="monument", cy = -0.53)
+    self.legR = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_legR.obj", cy = -0.53)
     self.legR.set_shader(shader)
-    #self.legR.scale(0.75, 0.75, 0.75)
-    self.footR = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_footR.obj", name="monument", cy = -0.28)
+    self.footR = pi3d.Model(file_string="../Blender/FF7/Cloud Board Piece/Cloud_footR.obj", cy = -0.28)
     self.footR.set_shader(shader)
-              
+
+    self.center.add_child(self.body)              
     self.body.add_child(self.head)
-    self.body.add_child(self.butt)
     self.body.add_child(self.armR)
     self.armR.add_child(self.forarmR)
     self.forarmR.add_child(self.handR)
     self.body.add_child(self.armL)
     self.armL.add_child(self.forarmL)
 
-    self.butt.add_child(self.legL)
+    self.center.add_child(self.legL)
     self.legL.add_child(self.footL)
-    self.butt.add_child(self.legR)
+    self.center.add_child(self.legR)
     self.legR.add_child(self.footR)
 
-  def run(self, position):
-    self.legR.rotateToX(20 * math.sin(position))
-    self.legL.rotateToX(-20 * math.sin(position))
-    self.footR.rotateToX(-15+15 * math.sin(position))
-    self.footL.rotateToX(-15-15 * math.sin(position))
+  def run(self, position, diff):
+    #compute motion
+    if diff <= 0.25:      
+      self.legR.rotateToX(15 * math.sin(position))
+      self.legL.rotateToX(-15 * math.sin(position))
+      self.footR.rotateToX(-15+ 15 * math.sin(position))
+      self.footL.rotateToX(-15 -15 * math.sin(position))
+
+      self.armL.rotateToZ(280)
+      self.armR.rotateToZ(80)
+      self.armR.rotateToY(25.0 * math.sin(position))
+      self.armL.rotateToY(25.0 * math.sin(position))
+
+      self.body.rotateToY(10.0 * math.sin(position))
+      self.head.rotateToY(-8.0 * math.sin(position))
+
+    else:
+      positionRun = position
+      self.legR.rotateToX(25 * math.sin(positionRun))
+      self.legL.rotateToX(-25 * math.sin(positionRun))
+      self.footR.rotateToX(-20+ 20 * math.sin(positionRun))
+      self.footL.rotateToX(-20 -20 * math.sin(positionRun))
+
+      self.armL.rotateToZ(300)
+      self.armR.rotateToZ(60)
+      self.armR.rotateToY(35.0 * math.sin(positionRun))
+      self.armL.rotateToY(35.0 * math.sin(positionRun))
+
+      self.body.rotateToY(10.0 * math.sin(positionRun))
+      self.body.rotateToX(-15.0)
+      self.head.rotateToY(-8.0 * math.sin(positionRun))
+      self.head.rotateToX(10.0)
+
+  def stand(self):
+
+    self.legR.rotateToX(0)
+    self.legL.rotateToX(0)
+    self.footR.rotateToX(0)
+    self.footL.rotateToX(0)
+
+    self.armL.rotateToZ(280)
+    self.armR.rotateToZ(80)
+    self.armR.rotateToY(0)
+    self.armL.rotateToY(0)
+
+    self.body.rotateToY(0)
+    self.body.rotateToX(0)
+    self.head.rotateToY(0)
+    self.head.rotateToX(0)
 
   def jump(self, position):
     pass
-    #compute motion
 
 class lego(BaseAvatar):
 
   def __init__(self):
     super().__init__()
 
-
     self.center = pi3d.Model(file_string="../Blender/lego/Emmet_body.obj")
     shader = pi3d.Shader("uv_light")
     self.center.set_shader(shader)
@@ -121,7 +160,6 @@ class lego(BaseAvatar):
 
   def jump(self, position):
     pass
-    #compute motion
 
   def stand(self):
 
@@ -148,31 +186,37 @@ class roshi(BaseAvatar):
     shader = pi3d.Shader("uv_flat")
     self.center.set_shader(shader)
     self.center.scale(0.3,0.3,0.3)
+  def run(self, position, diff):
+    pass
+  def stand(self):
+    pass
 
-class goomba(object):
+class goomba(BaseAvatar):
 
   def __init__(self):
-    self.body = pi3d.Model(file_string="../Blender/goomba.goomba.obj")
+    super().__init__()
+    self.center = pi3d.Model(file_string="../Blender/goomba/goomba.obj")
     shader = pi3d.Shader("uv_flat")
-    self.body.set_shader(shader)
-    self.body.scale(0.3,0.3,0.3)
+    self.center.set_shader(shader)
+    self.center.scale(0.1,0.1,0.1)
+  def run(self, position, diff):
+    self.center.rotateToX(8.0 * math.sin(position))
+    self.center.rotateToZ(8.0 * math.sin(position))
+  def stand(self):
+    self.body.rotateToX(0)
+    self.body.rotateToZ(0)
 
-
-class link(object):
+class link(BaseAvatar):
 
   def __init__(self):
-
+    super().__init__()
     self.center = pi3d.Model(file_string="../Blender/Zelda/Custom_Link/Link_full_butt.obj")
     shader = pi3d.Shader("uv_flat")
     self.center.set_shader(shader)
-
     self.center.scale(0.6, 0.6, 0.6)
+
     self.body = pi3d.Model(file_string="../Blender/Zelda/Custom_Link/Link_body.obj", cy=-7.4)
-    #body.translate(90.0, -mymap.calcHeight(100.0, 235) + 20.0, 235.0)
     self.body.set_shader(shader)
-
-    #self.body.rotateToY(90)
-
     self.head = pi3d.Model(file_string="../Blender/Zelda/Custom_Link/Link_head.obj", cy=-10, cz=-0.5)
     self.head.set_shader(shader)
                 
@@ -192,25 +236,21 @@ class link(object):
 
     self.legL = pi3d.Model(file_string="../Blender/Zelda/Custom_Link/Link_legL.obj", cy = -6)
     self.legL.set_shader(shader)
-    #self.legL.scale(0.75, 0.75, 0.75)
     self.footL = pi3d.Model(file_string="../Blender/Zelda/Custom_Link/Link_footL.obj", cy = -3)
     self.footL.set_shader(shader)
-    #self.footL.scale(1.1, 1.1, 1.1)
 
     self.legR = pi3d.Model(file_string="../Blender/Zelda/Custom_Link/Link_legR.obj", cy = -6)
     self.legR.set_shader(shader)
-    #self.legR.scale(0.75, 0.75, 0.75)
     self.footR = pi3d.Model(file_string="../Blender/Zelda/Custom_Link/Link_footR.obj", cy = -3)
     self.footR.set_shader(shader)
-                
-    #self.footR.scale(1.0, 1.0, 1.0)
 
+    self.center.add_child(self.body)
     self.body.add_child(self.head)
+
     self.body.add_child(self.armR)
     self.armR.add_child(self.forarmR)
     self.forarmR.add_child(self.handR)
-    self.center.add_child(self.body)
-    #self.body.add_child(self.legs)
+
     self.body.add_child(self.armL)
     self.armL.add_child(self.forarmL)
     self.forarmL.add_child(self.handL)
@@ -271,132 +311,171 @@ class link(object):
     self.head.rotateToX(0)
 
   def jump(self, position):
-    #compute motion
     self.armL.rotateToX(20 * math.sin(position))
     self.armR.rotateToX(-20 * math.sin(position))
 
-class goku(object):
+class goku(BaseAvatar):
 
-	def __init__(self):
+  def __init__(self):
+    super().__init__()
+    shader = pi3d.Shader("uv_light")
 
-                self.body = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_body.obj", name="monument")
-                #body.translate(90.0, -mymap.calcHeight(100.0, 235) + 20.0, 235.0)
-                shader = pi3d.Shader("uv_light")
-                self.body.set_shader(shader)
-                self.body.scale(0.20, 0.20, 0.20)
+    self.center = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_butt.obj")
+    self.center.set_shader(shader)
+    self.center.scale(0.2, 0.2, 0.2)
 
-                self.head = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_head.obj", name="monument", x=0,y=9.2, z=0.8)
-                self.head.set_shader(shader)
-                self.head.scale(1.25, 1.25, 1.25)
-                self.legs = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_legs.obj", name="monument", x=-3,y=-22.5)
-                self.legs.set_shader(shader)
-                self.butt = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_but.obj", name="monument", x=0, y=0.5, z=2.2)
-                self.butt.set_shader(shader)
-                self.butt.scale(1.2, 1.2, 1.2)
+    self.body = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_body.obj", cy=-23)
+    self.body.set_shader(shader)
+
+    self.head = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_head.obj", cy=-33, cz=0.5)
+    self.head.set_shader(shader)
+    self.legs = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_legs.obj")
+    self.legs.set_shader(shader)
                 
-                self.armR = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_armR.obj", name="monument", x=-4.8, y=4.6, z=1.2)
-                self.armR.set_shader(shader)
-                self.handR = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_handR.obj", name="monument", x=-6.1, y=-0, z=+1, rx=270)
-                self.handR.set_shader(shader)
+    self.armR = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_armR.obj", cy=-29, cx=4, cz=0.4)
+    self.armR.set_shader(shader)
+    self.handR = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_handR.obj", cy=-29, cx=8.5, cz=0)
+    self.handR.set_shader(shader)
 
-                self.armL = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_armL.obj", name="monument", x=4, y=4.2, z=0)
-                self.armL.set_shader(shader)
-                #self.armL.scale(3, 3, 3)
-                self.handL = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_handL.obj", name="monument", x=5, y=-1, z=0.5, rx=270)
-                self.handL.set_shader(shader)
+    self.armL = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_armL.obj", cy=-29, cx=-5, cz=0.4)
+    self.armL.set_shader(shader)
+    self.handL = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_handL.obj", cy=-29, cx=-11, cz=0.8)
+    self.handL.set_shader(shader)
 
-                self.legL = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_legL.obj", name="monument", x=2.9, y=-3, z=-1)
-                self.legL.set_shader(shader)
-                self.legL.scale(0.75, 0.75, 0.75)
-                self.footL = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_foot.obj", name="monument", x=0, y=-24, z=-2.5)
-                self.footL.set_shader(shader)
-                self.footL.scale(1.1, 1.1, 1.1)
+    self.legL = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_legL.obj", cy = -21)
+    self.legL.set_shader(shader)
+    self.footL = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_footL.obj", cy = -15)
+    self.footL.set_shader(shader)
 
-                self.legR = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_legL.obj", name="monument", x=-1.5, y=-3, z=-1)
-                self.legR.set_shader(shader)
-                self.legR.scale(0.75, 0.75, 0.75)
-                self.footR = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_foot.obj", name="monument", x=-0, y=-24, z=-2.5)
-                self.footR.set_shader(shader)
-                
-                self.footR.scale(1.0, 1.0, 1.0)
+    self.legR = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_legR.obj", cy = -21)
+    self.legR.set_shader(shader)
+    self.footR = pi3d.Model(file_string="../Blender/DBZ/Goku/goku_footR.obj", cy = -15)
+    self.footR.set_shader(shader)
+
+    self.center.add_child(self.body)
+    self.body.add_child(self.head)
+
+    self.body.add_child(self.armR)
+    self.armR.add_child(self.handR)
+    self.body.add_child(self.armL)
+    self.armL.add_child(self.handL)
+
+    self.center.add_child(self.legL)
+    self.legL.add_child(self.footL)
+    self.center.add_child(self.legR)
+    self.legR.add_child(self.footR)
+
+  def run(self, position, diff):
+    #compute motion
+    if diff <= 0.25:      
+      self.legR.rotateToX(15 * math.sin(position))
+      self.legL.rotateToX(-15 * math.sin(position))
+      self.footR.rotateToX(-15+ 15 * math.sin(position))
+      self.footL.rotateToX(-15 -15 * math.sin(position))
+
+      self.armL.rotateToZ(280)
+      self.armR.rotateToZ(80)
+      self.armR.rotateToY(25.0 * math.sin(position))
+      self.armL.rotateToY(25.0 * math.sin(position))
+
+      self.body.rotateToY(10.0 * math.sin(position))
+      self.head.rotateToY(-8.0 * math.sin(position))
+
+    else:
+      positionRun = position
+      self.legR.rotateToX(25 * math.sin(positionRun))
+      self.legL.rotateToX(-25 * math.sin(positionRun))
+      self.footR.rotateToX(-20+ 20 * math.sin(positionRun))
+      self.footL.rotateToX(-20 -20 * math.sin(positionRun))
+
+      self.armL.rotateToZ(300)
+      self.armR.rotateToZ(60)
+      self.armR.rotateToY(35.0 * math.sin(positionRun))
+      self.armL.rotateToY(35.0 * math.sin(positionRun))
+      self.handL.rotateToZ(80)
+      self.handR.rotateToZ(-80)
+      self.handL.rotateToY(80)
+      self.handR.rotateToY(-80)
+
+      self.body.rotateToY(10.0 * math.sin(positionRun))
+      self.body.rotateToX(-15.0)
+      self.head.rotateToY(-8.0 * math.sin(positionRun))
+      self.head.rotateToX(10.0)
+
+  def stand(self):
+
+    self.legR.rotateToX(0)
+    self.legL.rotateToX(0)
+    self.footR.rotateToX(0)
+    self.footL.rotateToX(0)
+
+    self.armL.rotateToZ(300)
+    self.armR.rotateToZ(60)
+    self.armR.rotateToY(0)
+    self.armL.rotateToY(0)
+    self.handL.rotateToY(0)
+    self.handR.rotateToY(0)
+    self.handL.rotateToZ(0)
+    self.handR.rotateToZ(0)
+
+    self.body.rotateToY(0)
+    self.body.rotateToX(0)
+    self.head.rotateToY(0)
+    self.head.rotateToX(0)
+
+  def jump(self, position):
+    self.armL.rotateToX(20 * math.sin(position))
+    self.armR.rotateToX(-20 * math.sin(position))
+
+class guy(BaseAvatar):
+
+  def __init__(self):
+    super().__init__()
+    #Create human
+    #porl = pi3d.Model(file_string="Blender/Porl.obj", name="monument")
+    #porl.translate(90.0, -mymap.calcHeight(100.0, 235) + 12.0, 235.0)
+    #porl.scale(5.0, 5.0, 5.0)
+
+    self.body = pi3d.Model(file_string="../Blender/pi_Porl_Body.obj")
+    #body.translate(90.0, -mymap.calcHeight(100.0, 235) + 20.0, 235.0)
+    self.body.scale(1.0, 1.0, 1.0)
+
+    self.head = pi3d.Model(file_string="../Blender/pi_Porl_Head.obj", y=1.84)
+    self.armR = pi3d.Model(file_string="../Blender/pi_Porl_Arm_Right.obj", x=-0.5, y=1.64, z=0.1)
+    self.handR = pi3d.Model(file_string="../Blender/pi_Porl_Hand_Right.obj", x=-0.75)
+
+    self.legs = pi3d.Model(file_string="../Blender/pi_Porl_Legs.obj", y=-3.7)
+    self.armL = pi3d.Model(file_string="../Blender/pi_Porl_Arm_Left.obj", x=0.5, y=1.64, z=0.1)
+    self.handL = pi3d.Model(file_string="../Blender/pi_Porl_Hand_Left.obj", x=0.75)
+
+    self.body.add_child(self.head)
+    self.body.add_child(self.armR)
+    self.armR.add_child(self.handR)
+    self.body.add_child(self.legs)
+    self.body.add_child(self.armL)
+    self.armL.add_child(self.handL)
+
+  def  sitDown(self):
+    #motion sitdown
+    pass
+
+  def play(self, position):
+    #motion sitdown
+    pass
+
+  def  jump(self):
+    #motion sitdown
+    pass
+
+  def run(self, position):
+    #compute motion
+    self.armL.rotateToX(25.0 * math.sin(position))
+    self.handL.rotateToX(30)
+    self.armR.rotateToX(-25.0 * math.sin(position))
+    self.handR.rotateToX(30.0)
 
 
-                self.body.add_child(self.head)
-                self.body.add_child(self.armR)
-                self.armR.add_child(self.handR)
-                self.body.add_child(self.butt)
-                #self.body.add_child(self.legs)
-                self.body.add_child(self.armL)
-                self.armL.add_child(self.handL)
-
-                self.butt.add_child(self.legL)
-                self.legL.add_child(self.footL)
-                self.butt.add_child(self.legR)
-                self.legR.add_child(self.footR)
-
-	def run(self, position):
-                #compute motion
-                self.legR.rotateToX(15 * math.sin(position))
-                self.legL.rotateToX(-15 * math.sin(position))
-                self.armL.rotateToZ(305)
-                self.armR.rotateToZ(80)
-                self.armR.rotateToY(25.0 * math.sin(position))
-                self.armL.rotateToY(25.0 * math.sin(position))
-
-class guy(object):
-
-	def __init__(self):
-
-                #Create human
-                #porl = pi3d.Model(file_string="Blender/Porl.obj", name="monument")
-                #porl.translate(90.0, -mymap.calcHeight(100.0, 235) + 12.0, 235.0)
-                #porl.scale(5.0, 5.0, 5.0)
-
-                self.body = pi3d.Model(file_string="../Blender/pi_Porl_Body.obj", name="monument")
-                #body.translate(90.0, -mymap.calcHeight(100.0, 235) + 20.0, 235.0)
-                self.body.scale(1.0, 1.0, 1.0)
-
-                self.head = pi3d.Model(file_string="../Blender/pi_Porl_Head.obj", name="monument", y=1.84)
-                #head.translate(90.0, -mymap.calcHeight(100.0, 235) + 29.6, 235.0)
-                self.armR = pi3d.Model(file_string="../Blender/pi_Porl_Arm_Right.obj", name="monument", x=-0.5, y=1.64, z=0.1)
-                #arm.translate(87.5, -mymap.calcHeight(100.0, 235) + 28.2, 235.5)
-                self.handR = pi3d.Model(file_string="../Blender/pi_Porl_Hand_Right.obj", name="monument", x=-0.75)
-                #hand.translate(83.5, -mymap.calcHeight(100.0, 235) + 28.2, 235.5)
-
-                self.legs = pi3d.Model(file_string="../Blender/pi_Porl_Legs.obj", name="monument", y=-3.7)
-                self.armL = pi3d.Model(file_string="../Blender/pi_Porl_Arm_Left.obj", name="monument", x=0.5, y=1.64, z=0.1)
-                self.handL = pi3d.Model(file_string="../Blender/pi_Porl_Hand_Left.obj", name="monument", x=0.75)
-
-
-                self.body.add_child(self.head)
-                self.body.add_child(self.armR)
-                self.armR.add_child(self.handR)
-                self.body.add_child(self.legs)
-                self.body.add_child(self.armL)
-                self.armL.add_child(self.handL)
-
-
-	def  sitDown(self):
-                #motion sitdown
-                pass
-
-	def play(self, position):
-                #motion sitdown
-                pass
-
-	def  jump(self):
-                #motion sitdown
-                pass
-
-	def run(self, position):
-                #compute motion
-                self.armL.rotateToX(25.0 * math.sin(position))
-                self.handL.rotateToX(30)
-                self.armR.rotateToX(-25.0 * math.sin(position))
-                self.handR.rotateToX(30.0)
-
-
-	def test(self, position):
-                #compute motion
-                pass
+  def test(self, position):
+    #compute motion
+    pass
 
diff --git a/src/maps.py b/src/maps.py
old mode 100644
new mode 100755
diff --git a/src/objects.py b/src/objects.py
new file mode 100755
index 0000000..0e572eb
--- /dev/null
+++ b/src/objects.py
@@ -0,0 +1,45 @@
+#!/bin/python
+
+
+import pi3d
+import math,random		
+
+
+shader_light = pi3d.Shader("uv_light")
+earth = pi3d.Texture("../textures/rock1.png")
+flatsh = pi3d.Shader("uv_flat")
+
+class object(object):
+
+  def __init__(self):
+    global flatsh
+
+    #font = pi3d.Pngfont("../fonts/GillSansMT.png", (221,0,170,255))
+    font = pi3d.Pngfont("../fonts/GillSansMT.png", (255,80,0,255))
+    self.mystring = pi3d.String(font=font, string="NOW NO EXCUSES", size=0.8, x=2, y=2, z=2, is_3d=True)
+    self.mystring2 = pi3d.String(font=font, string="BE YOUR HERO !!!", size=0.8, x=2, y=2, z=2, is_3d=True)
+    #mystring.translate(0.0, 0.0, 1)
+    self.mystring.scale(3, 3, 3)
+    self.mystring.set_shader(flatsh)
+    self.mystring2.scale(3, 3, 3)
+    self.mystring2.set_shader(flatsh)
+    self.myPlane = pi3d.Plane(w=7, h=1.8, name="plane")
+    self.myTriangle = pi3d.Triangle(sx=2, sy=2, sz=2, name="triangle", rz = 180)
+    self.mycone = pi3d.Cone(radius=1, height=2, sides=24, name="Cone", rz=180)
+    #self.myTriangle.set_shader(shader)
+
+  def Position(self, xm, ym, zm):
+    self.mystring.position(-10, ym+2.5, 14.9)
+    self.mystring2.position(-10, ym+1.5, 14.9)
+    self.mycone.position(-10, ym+2, 15)
+    self.myPlane.position(-10, ym+2, 15)
+
+  def Draw(self):
+    global shader_light, earth
+    #self.myPlane.draw(shader_light, [earth])
+    #self.mystring.draw()
+    #self.mystring2.draw()
+
+
+
+
diff --git a/src/serial_data.py b/src/serial_data.py
old mode 100644
new mode 100755
diff --git a/src/shaders/barrel.fs b/src/shaders/barrel.fs
old mode 100644
new mode 100755
diff --git a/src/shaders/barrel.vs b/src/shaders/barrel.vs
old mode 100644
new mode 100755