diff --git a/include/mpu.h b/include/mpu.h
index e69de29..cd16ffe 100644
--- a/include/mpu.h
+++ b/include/mpu.h
@@ -0,0 +1,2 @@
+void mpu_init();
+void mpu_loop();
\ No newline at end of file
diff --git a/include/temp.h b/include/temp.h
index e69de29..8bba64a 100644
--- a/include/temp.h
+++ b/include/temp.h
@@ -0,0 +1,2 @@
+void temp_init();
+void temp_loop();
\ No newline at end of file
diff --git a/src/main.cpp b/src/main.cpp
index f416119..6fe75b8 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -2,49 +2,28 @@
 #include <protothreads.h>
 
 #include <bt.h>
+#include <mpu.h>
 #include <ping.h>
 #include <servo.h>
+#include <temp.h>
 #include <web.h>
 
 void setup() {
   Serial.begin(115200);
   servo_init();
-  // bt_init();
-  // web_init();
+  bt_init();
+  web_init();
   ping_init();
+  mpu_init();
+  temp_init();
 }
 
 void loop() {
   servo_loop();
-  // bt_loop();
-  // web_loop();
+  bt_loop();
+  web_loop();
   ping_loop();
-  String co = Serial.readString();
-  if (co.length() != 0) {
-    int pin = co[0] - '0';
-    int m = co[1] - '0';
-    Serial.println(co);
-    switch (m) {
-      case 1:
-        servo_deg(pin, getpos(pin) + 15);
-        break;
-      case 2:
-        servo_deg(pin, getpos(pin) - 15);
-        break;
-      case 3:
-        servo_deg(0, 180);
-        delay(500);
-        servo_deg(1, 180);
-        delay(500);
-        servo_deg(2, 180);
-        delay(500);
-        servo_deg(3, 180);
-        delay(500);
-        break;
-      default:
-        servo_deg(pin, 90);
-        break;
-    }
-  }
+  mpu_loop();
+  temp_loop();
   delay(100);
 }
\ No newline at end of file