diff --git a/compLib/ADC.py b/compLib/ADC.py
deleted file mode 100644
index b4297ab..0000000
--- a/compLib/ADC.py
+++ /dev/null
@@ -1,38 +0,0 @@
-import smbus
-
-from compLib.LogstashLogging import Logging
-
-SINGLE_ENDED = 0x84
-ADDRESS = 0x48
-
-bus = smbus.SMBus(1)
-
-
-class ADC:
-
-    @staticmethod
-    def read(channel) -> float:
-        """
-        Read from adc channel
-        0 -> Left IR Sensor
-        1 -> Right IR Sensor
-        2 -> Battery voltage / 3
-        :param channel: Channel between 0 and 2
-        :return: voltage
-        """
-
-        """Select the Command data from the given provided value above"""
-        command = SINGLE_ENDED | ((((channel << 2) | (channel >> 1)) & 0x07) << 4)
-        bus.write_byte(ADDRESS, command)
-
-        while "Koka is great":
-            value1 = bus.read_byte(ADDRESS)
-            value2 = bus.read_byte(ADDRESS)
-            if value1 == value2:
-                break
-
-        voltage = value1 / 255.0 * 3.3  # calculate the voltage value
-        voltage = round(voltage, 2)
-
-        Logging.get_logger().debug(f"ADC.read {channel} = {voltage}")
-        return voltage
diff --git a/compLib/Battery.py b/compLib/Battery.py
deleted file mode 100644
index 38f43a8..0000000
--- a/compLib/Battery.py
+++ /dev/null
@@ -1,27 +0,0 @@
-from compLib.ADC import ADC
-from compLib.LogstashLogging import Logging
-
-BATTERY_CHANNEL = 2
-BATTERY_COUNT = 2
-BATTERY_MULTIPLIER = 3
-BATTERY_MIN_VOLTAGE = 3.4
-BATTERY_MAX_VOLTAGE = 4.2
-
-adc = ADC()
-
-
-class Battery(object):
-    """Used to interact with the battery
-    """
-
-    @staticmethod
-    def percent() -> int:
-        """Get battery percentage
-
-        :return: Percentage between 0 and 100
-        :rtype: int
-        """
-        voltage = adc.read(BATTERY_CHANNEL) * BATTERY_MULTIPLIER
-        result = int(((voltage /  BATTERY_COUNT) - BATTERY_MIN_VOLTAGE) / (BATTERY_MAX_VOLTAGE - BATTERY_MIN_VOLTAGE)  * 100)
-        Logging.get_logger().debug(f"Battery.percent = {result}")
-        return result
diff --git a/compLib/Buzzer.py b/compLib/Buzzer.py
deleted file mode 100644
index 4b1329d..0000000
--- a/compLib/Buzzer.py
+++ /dev/null
@@ -1,31 +0,0 @@
-import atexit
-import RPi.GPIO as GPIO
-
-from compLib.LogstashLogging import Logging
-
-GPIO.setwarnings(False)
-Buzzer_Pin = 17
-GPIO.setmode(GPIO.BCM)
-GPIO.setup(Buzzer_Pin, GPIO.OUT)
-
-
-class Buzzer:
-    """Used to interact with the buzzer
-    """
-
-    @staticmethod
-    def set(on: bool):
-        """Turn the buzzer on / off
-
-        :param on: True if on, False if off
-        """
-        Logging.get_logger().debug(f"Buzzer.set {on}")
-
-        GPIO.output(Buzzer_Pin, on)
-
-    @staticmethod
-    def exit():
-        Buzzer.set(False)
-
-
-atexit.register(Buzzer.exit)
diff --git a/compLib/Motor.py b/compLib/Motor.py
index 664acf9..f604936 100644
--- a/compLib/Motor.py
+++ b/compLib/Motor.py
@@ -1,11 +1,7 @@
 import atexit
 
-from compLib.PCA9685 import PCA9685
 from compLib.LogstashLogging import Logging
 
-pwm = PCA9685(0x40, debug=True)
-pwm.setPWMFreq(50)
-
 MOTOR_COUNT = 4
 MAX_MOTOR_SPEED = 4095.0
 MOTOR_PERCENTAGE_MULT = MAX_MOTOR_SPEED / 100.0
diff --git a/compLib/PCA9685.py b/compLib/PCA9685.py
deleted file mode 100644
index 1389e55..0000000
--- a/compLib/PCA9685.py
+++ /dev/null
@@ -1,76 +0,0 @@
-#!/usr/bin/python
-
-import math
-import time
-
-import smbus
-
-
-# ============================================================================
-# Raspi PCA9685 16-Channel PWM Servo Driver
-# ============================================================================
-
-class PCA9685:
-    # Registers/etc.
-    __SUBADR1 = 0x02
-    __SUBADR2 = 0x03
-    __SUBADR3 = 0x04
-    __MODE1 = 0x00
-    __PRESCALE = 0xFE
-    __LED0_ON_L = 0x06
-    __LED0_ON_H = 0x07
-    __LED0_OFF_L = 0x08
-    __LED0_OFF_H = 0x09
-    __ALLLED_ON_L = 0xFA
-    __ALLLED_ON_H = 0xFB
-    __ALLLED_OFF_L = 0xFC
-    __ALLLED_OFF_H = 0xFD
-
-    def __init__(self, address=0x40, debug=False):
-        self.bus = smbus.SMBus(1)
-        self.address = address
-        self.debug = debug
-        self.write(self.__MODE1, 0x00)
-
-    def write(self, reg, value):
-        "Writes an 8-bit value to the specified register/address"
-        self.bus.write_byte_data(self.address, reg, value)
-
-    def read(self, reg):
-        "Read an unsigned byte from the I2C device"
-        result = self.bus.read_byte_data(self.address, reg)
-        return result
-
-    def setPWMFreq(self, freq):
-        "Sets the PWM frequency"
-        prescaleval = 25000000.0  # 25MHz
-        prescaleval /= 4096.0  # 12-bit
-        prescaleval /= float(freq)
-        prescaleval -= 1.0
-
-        oldmode = self.read(self.__MODE1)
-        newmode = (oldmode & 0x7F) | 0x10  # sleep
-        self.write(self.__MODE1, newmode)  # go to sleep
-        self.write(self.__PRESCALE, int(round(prescaleval)))
-        self.write(self.__MODE1, oldmode)
-        time.sleep(0.005)
-        self.write(self.__MODE1, oldmode | 0x80)
-
-    def setPWM(self, channel, on, off):
-        "Sets a single PWM channel"
-        self.write(self.__LED0_ON_L + 4 * channel, on & 0xFF)
-        self.write(self.__LED0_ON_H + 4 * channel, on >> 8)
-        self.write(self.__LED0_OFF_L + 4 * channel, off & 0xFF)
-        self.write(self.__LED0_OFF_H + 4 * channel, off >> 8)
-
-    def setMotorPwm(self, channel, duty):
-        self.setPWM(channel, 0, duty)
-
-    def setServoPulse(self, channel, pulse):
-        "Sets the Servo Pulse,The PWM frequency must be 50HZ"
-        pulse = float(pulse) * (4096.0 / 20000.0)  # PWM frequency is 50HZ,the period is 20000us
-        self.setPWM(channel, 0, int(pulse))
-
-
-if __name__ == '__main__':
-    pass
diff --git a/compLib/Spi.py b/compLib/Spi.py
new file mode 100644
index 0000000..227d198
--- /dev/null
+++ b/compLib/Spi.py
@@ -0,0 +1,62 @@
+import spidev
+from threading import Thread, Lock
+from enum import Enum
+
+# from LogstashLogging import logstash_logger
+
+SPI_BUS = 1
+SPI_DEVICE = 2
+SPI_SPEED = 1000000
+SPI_BUFFER_SIZE = 32
+
+spi = spidev.SpiDev()
+spi.open(SPI_BUS, SPI_DEVICE)
+spi.max_speed_hz = SPI_SPEED
+spi.mode = 0
+spi.bits_per_word = 8
+
+spi_mutex = Lock()
+
+
+class Spi(object):
+
+    @staticmethod
+    def transfer(tx_buffer: list):
+        write_reg = tx_buffer[1]
+        print(tx_buffer)
+        spi.xfer(tx_buffer)
+
+        rx_buffer = spi.xfer([0] * 32)
+
+        if rx_buffer[1] != write_reg:
+            # logstash_logger.error(f"SPI error during write to register {tx_buffer[0]}!")
+            print(f"SPI error during write to register {write_reg}!")
+
+        return rx_buffer
+
+    @staticmethod
+    def read(reg: int, length: int):
+        tx_buf = [0] * SPI_BUFFER_SIZE
+
+        tx_buf[0] = 0
+        tx_buf[1] = reg
+        tx_buf[2] = length
+
+        rx_buf = Spi.transfer(tx_buf)
+        return int.from_bytes(rx_buf[2:2 + length], byteorder='big', signed=False)
+
+    @staticmethod
+    def write(reg: int, length: int, value: int):
+        tx_buf = [0] * SPI_BUFFER_SIZE
+
+        tx_buf[0] = 1
+        tx_buf[1] = reg
+        tx_buf[2] = length
+
+        pos = 3
+        for i in value.to_bytes(length, 'big'):
+            tx_buf[pos] = i
+            pos += 1
+
+        rx_buf = Spi.transfer(tx_buf)
+        return int.from_bytes(rx_buf[2:2 + length], byteorder='big', signed=False)
\ No newline at end of file
diff --git a/compLib/Ultrasonic.py b/compLib/Ultrasonic.py
deleted file mode 100644
index 2ecbf60..0000000
--- a/compLib/Ultrasonic.py
+++ /dev/null
@@ -1,107 +0,0 @@
-import time
-import RPi.GPIO as GPIO
-
-trigger_pin = 27
-echo_pin = 22
-speed_of_sound_mps = 340 # in m/s
-
-rising_found = False
-rising_time = 0
-falling_found = False
-falling_time = 0
-
-class Ultrasonic:
-
-    @staticmethod
-    def __send_trigger():
-        GPIO.setup(trigger_pin, GPIO.OUT)
-        GPIO.output(trigger_pin, False) # Ensure a clean transition
-        time.sleep(0.000005)
-        GPIO.output(trigger_pin, True)  # Trigger now
-        time.sleep(0.000010)
-        GPIO.output(trigger_pin, False)
-
-    @staticmethod
-    def __signal_start_callback(channel):
-        global rising_found
-        global rising_time
-        rising_found = True
-        rising_time = time.process_time_ns()
-
-    @staticmethod
-    def __signal_end_callback(channel):
-        global falling_found
-        global falling_time
-        falling_found = True
-        falling_time = time.process_time_ns()
-
-    @staticmethod
-    def __measure_pulse(timeout = 1000000) -> int:
-        """ Measure the length of a pulse in us. When either the pulse doesn't start in [timeout] us
-            or the pulse is longer than [timeout] us, 0 is returned.
-
-        :param timeout: Timeout in us
-        :return: The length of the pulse or 0 on timeout
-        :rtype: int
-        """
-
-        global rising_found
-        global rising_time
-        global falling_found
-        global falling_time
-
-        # Setup pin
-        GPIO.setup(echo_pin, GPIO.IN)
-
-        # Wait for the rising edge
-        rising_found = False
-        GPIO.add_event_detect(echo_pin, GPIO.RISING, callback = Ultrasonic.__signal_start_callback)
-        start = time.process_time_ns()
-        while (time.process_time_ns() < start + timeout * 1000 and not rising_found):
-            pass
-
-        GPIO.remove_event_detect(echo_pin)
-        if (not rising_found):
-            return 0
-
-        # Wait for the falling edge
-        falling_found = False
-        GPIO.add_event_detect(echo_pin, GPIO.FALLING, callback = Ultrasonic.__signal_end_callback)
-        start = time.process_time_ns()
-        while (time.process_time_ns() < start + timeout * 1000 and not falling_found):
-            pass
-
-        GPIO.remove_event_detect(echo_pin)
-        if (not falling_found):
-            return 0
-
-        # Finally, return the time difference
-        return int((falling_time - rising_time) / 1000)
-    
-    @staticmethod
-    def get_distance() -> float:
-        """ Get the distance from the Ultrasonic sensor in cm. 
-            Returns 'NaN' when the result is invalid.
-
-        :return: The distance in cm or 'NaN'
-        :rtype: float
-        """
-        GPIO.setmode(GPIO.BCM)
-
-        # Trigger the measurement
-        Ultrasonic.__send_trigger()
-
-        # The pulse length in us
-        pulse = Ultrasonic.__measure_pulse()
-
-        if (pulse == 0):
-            print("invalid")
-            return float('NaN')
-
-        # Convert the speed of sound from m/s to cm/us for convenience
-        speed_of_sound_cmpus = speed_of_sound_mps / 10000
-
-        # Convert us time to cm distance
-        distance = (pulse / 2) * speed_of_sound_cmpus
-
-        return distance