diff --git a/client/compLib/CompLib.proto b/client/compLib/CompLib.proto
index 1af66ad..08cd010 100644
--- a/client/compLib/CompLib.proto
+++ b/client/compLib/CompLib.proto
@@ -59,8 +59,9 @@ message IRSensorsReadAllResponse {
 }
 
 message MotorSetPowerRequest {
-  uint32 port = 1;
-  double power = 2;
+  Header header = 1;
+  uint32 port = 2;
+  double power = 3;
 }
 
 message MotorsSetPowerRequest {
@@ -69,8 +70,9 @@ message MotorsSetPowerRequest {
 }
 
 message MotorSetSpeedRequest {
-  uint32 port = 1;
-  double speed = 2;
+  Header header = 1;
+  uint32 port = 2;
+  double speed = 3;
 }
 
 message MotorsSetSpeedRequest {
@@ -78,6 +80,17 @@ message MotorsSetSpeedRequest {
   repeated MotorSetSpeedRequest requests = 2;
 }
 
+message MotorSetPulseWidthRequest {
+  Header header = 1;
+  uint32 port = 2;
+  double percent = 3;
+}
+
+message MotorsSetPulseWidthRequest {
+  Header header = 1;
+  repeated MotorSetPulseWidthRequest requests = 2;
+}
+
 message OdometryReadRequest {
   Header header = 1;
 }
diff --git a/client/compLib/CompLibClient.py b/client/compLib/CompLibClient.py
index dcc9871..9f37945 100644
--- a/client/compLib/CompLibClient.py
+++ b/client/compLib/CompLibClient.py
@@ -5,10 +5,8 @@ import compLib.CompLib_pb2 as CompLib_pb2
 
 
 class CompLibClient(object):
-    USE_UNIX_SOCKET = False
     UNIX_SOCKET_PATH = "/tmp/compLib"
-    USE_TCP_SOCKET = False
-    TCP_SOCKET_HOST = "10.20.5.1"
+    TCP_SOCKET_HOST = ""
     TCP_SOCKET_PORT = 9090
     SOCKET = None
     LOCK = Lock()
@@ -16,10 +14,9 @@ class CompLibClient(object):
     @staticmethod
     def use_unix_socket(socket_path="/tmp/compLib"):
         CompLibClient.UNIX_SOCKET_PATH = socket_path
-        CompLibClient.USE_UNIX_SOCKET = True
-        CompLibClient.USE_TCP_SOCKET = False
 
-        CompLibClient.SOCKET = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+        CompLibClient.SOCKET = socket.socket(
+            socket.AF_UNIX, socket.SOCK_STREAM)
         CompLibClient.SOCKET.connect(CompLibClient.UNIX_SOCKET_PATH)
 
         from compLib.HealthCheck import HealthUpdater
@@ -29,11 +26,11 @@ class CompLibClient(object):
     def use_tcp_socket(socket_host, socket_port=TCP_SOCKET_PORT):
         CompLibClient.TCP_SOCKET_HOST = socket_host
         CompLibClient.TCP_SOCKET_PORT = socket_port
-        CompLibClient.USE_UNIX_SOCKET = False
-        CompLibClient.USE_TCP_SOCKET = True
 
-        CompLibClient.SOCKET = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-        CompLibClient.SOCKET.connect((CompLibClient.TCP_SOCKET_HOST, CompLibClient.TCP_SOCKET_PORT))
+        CompLibClient.SOCKET = socket.socket(
+            socket.AF_INET, socket.SOCK_STREAM)
+        CompLibClient.SOCKET.connect(
+            (CompLibClient.TCP_SOCKET_HOST, CompLibClient.TCP_SOCKET_PORT))
 
         from compLib.HealthCheck import HealthUpdater
         HealthUpdater.start()
@@ -41,22 +38,15 @@ class CompLibClient(object):
     @staticmethod
     def send(data: bytes, size: int) -> bytes:
         with CompLibClient.LOCK:
-            # if CompLibClient.USE_TCP_SOCKET:
-            #     sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-            #     sock.connect((CompLibClient.TCP_SOCKET_HOST, CompLibClient.TCP_SOCKET_PORT))
-            #
-            # elif CompLibClient.USE_UNIX_SOCKET:
-            #     sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
-            #     sock.connect(CompLibClient.UNIX_SOCKET_PATH)
-            #
-            # else:
-            #     return bytes(0)
+            if CompLibClient.SOCKET is None:
+                CompLibClient.use_unix_socket()
 
             CompLibClient.SOCKET.sendall(size.to_bytes(1, byteorder='big'))
             CompLibClient.SOCKET.sendall(data)
 
             response_size_bytes = CompLibClient.SOCKET.recv(1)
-            response_size = int.from_bytes(response_size_bytes, byteorder="big")
+            response_size = int.from_bytes(
+                response_size_bytes, byteorder="big")
             # print(response_size)
 
             response_bytes = CompLibClient.SOCKET.recv(response_size)
diff --git a/client/compLib/CompLib_pb2.py b/client/compLib/CompLib_pb2.py
index 2b76409..8036e9a 100644
--- a/client/compLib/CompLib_pb2.py
+++ b/client/compLib/CompLib_pb2.py
@@ -6,854 +6,979 @@ from google.protobuf import descriptor as _descriptor
 from google.protobuf import message as _message
 from google.protobuf import reflection as _reflection
 from google.protobuf import symbol_database as _symbol_database
-
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
 
+
+
+
 DESCRIPTOR = _descriptor.FileDescriptor(
-    name='CompLib.proto',
-    package='CompLib',
-    syntax='proto3',
-    serialized_options=None,
-    create_key=_descriptor._internal_create_key,
-    serialized_pb=b'\n\rCompLib.proto\x12\x07\x43ompLib\"\x1e\n\x06Header\x12\x14\n\x0cmessage_type\x18\x01 \x01(\t\"3\n\x06Status\x12\x12\n\nsuccessful\x18\x01 \x01(\x08\x12\x15\n\rerror_message\x18\x02 \x01(\t\"1\n\x0eGenericRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"S\n\x0fGenericResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\">\n\x1b\x45ncoderReadPositionsRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"w\n\x1c\x45ncoderReadPositionsResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\x12\x15\n\tpositions\x18\x03 \x03(\x05\x42\x02\x10\x01\"?\n\x1c\x45ncoderReadVelocitiesRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"y\n\x1d\x45ncoderReadVelocitiesResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\x12\x16\n\nvelocities\x18\x03 \x03(\x01\x42\x02\x10\x01\"9\n\x16IRSensorsEnableRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\":\n\x17IRSensorsDisableRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\":\n\x17IRSensorsReadAllRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"n\n\x18IRSensorsReadAllResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\x12\x10\n\x04\x64\x61ta\x18\x03 \x03(\rB\x02\x10\x01\"3\n\x14MotorSetPowerRequest\x12\x0c\n\x04port\x18\x01 \x01(\r\x12\r\n\x05power\x18\x02 \x01(\x01\"i\n\x15MotorsSetPowerRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12/\n\x08requests\x18\x02 \x03(\x0b\x32\x1d.CompLib.MotorSetPowerRequest\"3\n\x14MotorSetSpeedRequest\x12\x0c\n\x04port\x18\x01 \x01(\r\x12\r\n\x05speed\x18\x02 \x01(\x01\"i\n\x15MotorsSetSpeedRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12/\n\x08requests\x18\x02 \x03(\x0b\x32\x1d.CompLib.MotorSetSpeedRequest\"6\n\x13OdometryReadRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"\x95\x01\n\x14OdometryReadResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\x12\x12\n\nx_position\x18\x03 \x01(\x01\x12\x12\n\ny_position\x18\x04 \x01(\x01\x12\x13\n\x0borientation\x18\x05 \x01(\x01\"a\n\x14\x44riveDistanceRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x12\n\ndistance_m\x18\x02 \x01(\x01\x12\x14\n\x0cvelocity_m_s\x18\x03 \x01(\x01\"d\n\x12TurnDegreesRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x15\n\rangle_degrees\x18\x02 \x01(\x01\x12\x16\n\x0evelocity_rad_s\x18\x03 \x01(\x01\"l\n\x0c\x44riveRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1b\n\x13linear_velocity_m_s\x18\x02 \x01(\x01\x12\x1e\n\x16\x61ngular_velocity_rad_s\x18\x03 \x01(\x01\"6\n\x13HealthUpdateRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Headerb\x06proto3'
+  name='CompLib.proto',
+  package='CompLib',
+  syntax='proto3',
+  serialized_options=None,
+  create_key=_descriptor._internal_create_key,
+  serialized_pb=b'\n\rCompLib.proto\x12\x07\x43ompLib\"\x1e\n\x06Header\x12\x14\n\x0cmessage_type\x18\x01 \x01(\t\"3\n\x06Status\x12\x12\n\nsuccessful\x18\x01 \x01(\x08\x12\x15\n\rerror_message\x18\x02 \x01(\t\"1\n\x0eGenericRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"S\n\x0fGenericResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\">\n\x1b\x45ncoderReadPositionsRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"w\n\x1c\x45ncoderReadPositionsResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\x12\x15\n\tpositions\x18\x03 \x03(\x05\x42\x02\x10\x01\"?\n\x1c\x45ncoderReadVelocitiesRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"y\n\x1d\x45ncoderReadVelocitiesResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\x12\x16\n\nvelocities\x18\x03 \x03(\x01\x42\x02\x10\x01\"9\n\x16IRSensorsEnableRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\":\n\x17IRSensorsDisableRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\":\n\x17IRSensorsReadAllRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"n\n\x18IRSensorsReadAllResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\x12\x10\n\x04\x64\x61ta\x18\x03 \x03(\rB\x02\x10\x01\"T\n\x14MotorSetPowerRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x0c\n\x04port\x18\x02 \x01(\r\x12\r\n\x05power\x18\x03 \x01(\x01\"i\n\x15MotorsSetPowerRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12/\n\x08requests\x18\x02 \x03(\x0b\x32\x1d.CompLib.MotorSetPowerRequest\"T\n\x14MotorSetSpeedRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x0c\n\x04port\x18\x02 \x01(\r\x12\r\n\x05speed\x18\x03 \x01(\x01\"i\n\x15MotorsSetSpeedRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12/\n\x08requests\x18\x02 \x03(\x0b\x32\x1d.CompLib.MotorSetSpeedRequest\"[\n\x19MotorSetPulseWidthRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x0c\n\x04port\x18\x02 \x01(\r\x12\x0f\n\x07percent\x18\x03 \x01(\x01\"s\n\x1aMotorsSetPulseWidthRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x34\n\x08requests\x18\x02 \x03(\x0b\x32\".CompLib.MotorSetPulseWidthRequest\"6\n\x13OdometryReadRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"\x95\x01\n\x14OdometryReadResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\x12\x12\n\nx_position\x18\x03 \x01(\x01\x12\x12\n\ny_position\x18\x04 \x01(\x01\x12\x13\n\x0borientation\x18\x05 \x01(\x01\"a\n\x14\x44riveDistanceRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x12\n\ndistance_m\x18\x02 \x01(\x01\x12\x14\n\x0cvelocity_m_s\x18\x03 \x01(\x01\"d\n\x12TurnDegreesRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x15\n\rangle_degrees\x18\x02 \x01(\x01\x12\x16\n\x0evelocity_rad_s\x18\x03 \x01(\x01\"l\n\x0c\x44riveRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1b\n\x13linear_velocity_m_s\x18\x02 \x01(\x01\x12\x1e\n\x16\x61ngular_velocity_rad_s\x18\x03 \x01(\x01\"6\n\x13HealthUpdateRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Headerb\x06proto3'
 )
 
+
+
+
 _HEADER = _descriptor.Descriptor(
-    name='Header',
-    full_name='CompLib.Header',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='message_type', full_name='CompLib.Header.message_type', index=0,
-            number=1, type=9, cpp_type=9, label=1,
-            has_default_value=False, default_value=b"".decode('utf-8'),
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=26,
-    serialized_end=56,
+  name='Header',
+  full_name='CompLib.Header',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='message_type', full_name='CompLib.Header.message_type', index=0,
+      number=1, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=26,
+  serialized_end=56,
 )
 
+
 _STATUS = _descriptor.Descriptor(
-    name='Status',
-    full_name='CompLib.Status',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='successful', full_name='CompLib.Status.successful', index=0,
-            number=1, type=8, cpp_type=7, label=1,
-            has_default_value=False, default_value=False,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='error_message', full_name='CompLib.Status.error_message', index=1,
-            number=2, type=9, cpp_type=9, label=1,
-            has_default_value=False, default_value=b"".decode('utf-8'),
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=58,
-    serialized_end=109,
+  name='Status',
+  full_name='CompLib.Status',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='successful', full_name='CompLib.Status.successful', index=0,
+      number=1, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='error_message', full_name='CompLib.Status.error_message', index=1,
+      number=2, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=58,
+  serialized_end=109,
 )
 
+
 _GENERICREQUEST = _descriptor.Descriptor(
-    name='GenericRequest',
-    full_name='CompLib.GenericRequest',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='header', full_name='CompLib.GenericRequest.header', index=0,
-            number=1, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=111,
-    serialized_end=160,
+  name='GenericRequest',
+  full_name='CompLib.GenericRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.GenericRequest.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=111,
+  serialized_end=160,
 )
 
+
 _GENERICRESPONSE = _descriptor.Descriptor(
-    name='GenericResponse',
-    full_name='CompLib.GenericResponse',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='header', full_name='CompLib.GenericResponse.header', index=0,
-            number=1, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='status', full_name='CompLib.GenericResponse.status', index=1,
-            number=2, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=162,
-    serialized_end=245,
+  name='GenericResponse',
+  full_name='CompLib.GenericResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.GenericResponse.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='status', full_name='CompLib.GenericResponse.status', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=162,
+  serialized_end=245,
 )
 
+
 _ENCODERREADPOSITIONSREQUEST = _descriptor.Descriptor(
-    name='EncoderReadPositionsRequest',
-    full_name='CompLib.EncoderReadPositionsRequest',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='header', full_name='CompLib.EncoderReadPositionsRequest.header', index=0,
-            number=1, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=247,
-    serialized_end=309,
+  name='EncoderReadPositionsRequest',
+  full_name='CompLib.EncoderReadPositionsRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.EncoderReadPositionsRequest.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=247,
+  serialized_end=309,
 )
 
+
 _ENCODERREADPOSITIONSRESPONSE = _descriptor.Descriptor(
-    name='EncoderReadPositionsResponse',
-    full_name='CompLib.EncoderReadPositionsResponse',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='header', full_name='CompLib.EncoderReadPositionsResponse.header', index=0,
-            number=1, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='status', full_name='CompLib.EncoderReadPositionsResponse.status', index=1,
-            number=2, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='positions', full_name='CompLib.EncoderReadPositionsResponse.positions', index=2,
-            number=3, type=5, cpp_type=1, label=3,
-            has_default_value=False, default_value=[],
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=b'\020\001', file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=311,
-    serialized_end=430,
+  name='EncoderReadPositionsResponse',
+  full_name='CompLib.EncoderReadPositionsResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.EncoderReadPositionsResponse.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='status', full_name='CompLib.EncoderReadPositionsResponse.status', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='positions', full_name='CompLib.EncoderReadPositionsResponse.positions', index=2,
+      number=3, type=5, cpp_type=1, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=311,
+  serialized_end=430,
 )
 
+
 _ENCODERREADVELOCITIESREQUEST = _descriptor.Descriptor(
-    name='EncoderReadVelocitiesRequest',
-    full_name='CompLib.EncoderReadVelocitiesRequest',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='header', full_name='CompLib.EncoderReadVelocitiesRequest.header', index=0,
-            number=1, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=432,
-    serialized_end=495,
+  name='EncoderReadVelocitiesRequest',
+  full_name='CompLib.EncoderReadVelocitiesRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.EncoderReadVelocitiesRequest.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=432,
+  serialized_end=495,
 )
 
+
 _ENCODERREADVELOCITIESRESPONSE = _descriptor.Descriptor(
-    name='EncoderReadVelocitiesResponse',
-    full_name='CompLib.EncoderReadVelocitiesResponse',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='header', full_name='CompLib.EncoderReadVelocitiesResponse.header', index=0,
-            number=1, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='status', full_name='CompLib.EncoderReadVelocitiesResponse.status', index=1,
-            number=2, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='velocities', full_name='CompLib.EncoderReadVelocitiesResponse.velocities', index=2,
-            number=3, type=1, cpp_type=5, label=3,
-            has_default_value=False, default_value=[],
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=b'\020\001', file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=497,
-    serialized_end=618,
+  name='EncoderReadVelocitiesResponse',
+  full_name='CompLib.EncoderReadVelocitiesResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.EncoderReadVelocitiesResponse.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='status', full_name='CompLib.EncoderReadVelocitiesResponse.status', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='velocities', full_name='CompLib.EncoderReadVelocitiesResponse.velocities', index=2,
+      number=3, type=1, cpp_type=5, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=497,
+  serialized_end=618,
 )
 
+
 _IRSENSORSENABLEREQUEST = _descriptor.Descriptor(
-    name='IRSensorsEnableRequest',
-    full_name='CompLib.IRSensorsEnableRequest',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='header', full_name='CompLib.IRSensorsEnableRequest.header', index=0,
-            number=1, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=620,
-    serialized_end=677,
+  name='IRSensorsEnableRequest',
+  full_name='CompLib.IRSensorsEnableRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.IRSensorsEnableRequest.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=620,
+  serialized_end=677,
 )
 
+
 _IRSENSORSDISABLEREQUEST = _descriptor.Descriptor(
-    name='IRSensorsDisableRequest',
-    full_name='CompLib.IRSensorsDisableRequest',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='header', full_name='CompLib.IRSensorsDisableRequest.header', index=0,
-            number=1, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=679,
-    serialized_end=737,
+  name='IRSensorsDisableRequest',
+  full_name='CompLib.IRSensorsDisableRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.IRSensorsDisableRequest.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=679,
+  serialized_end=737,
 )
 
+
 _IRSENSORSREADALLREQUEST = _descriptor.Descriptor(
-    name='IRSensorsReadAllRequest',
-    full_name='CompLib.IRSensorsReadAllRequest',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='header', full_name='CompLib.IRSensorsReadAllRequest.header', index=0,
-            number=1, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=739,
-    serialized_end=797,
+  name='IRSensorsReadAllRequest',
+  full_name='CompLib.IRSensorsReadAllRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.IRSensorsReadAllRequest.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=739,
+  serialized_end=797,
 )
 
+
 _IRSENSORSREADALLRESPONSE = _descriptor.Descriptor(
-    name='IRSensorsReadAllResponse',
-    full_name='CompLib.IRSensorsReadAllResponse',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='header', full_name='CompLib.IRSensorsReadAllResponse.header', index=0,
-            number=1, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='status', full_name='CompLib.IRSensorsReadAllResponse.status', index=1,
-            number=2, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='data', full_name='CompLib.IRSensorsReadAllResponse.data', index=2,
-            number=3, type=13, cpp_type=3, label=3,
-            has_default_value=False, default_value=[],
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=b'\020\001', file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=799,
-    serialized_end=909,
+  name='IRSensorsReadAllResponse',
+  full_name='CompLib.IRSensorsReadAllResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.IRSensorsReadAllResponse.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='status', full_name='CompLib.IRSensorsReadAllResponse.status', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='data', full_name='CompLib.IRSensorsReadAllResponse.data', index=2,
+      number=3, type=13, cpp_type=3, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=799,
+  serialized_end=909,
 )
 
+
 _MOTORSETPOWERREQUEST = _descriptor.Descriptor(
-    name='MotorSetPowerRequest',
-    full_name='CompLib.MotorSetPowerRequest',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='port', full_name='CompLib.MotorSetPowerRequest.port', index=0,
-            number=1, type=13, cpp_type=3, label=1,
-            has_default_value=False, default_value=0,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='power', full_name='CompLib.MotorSetPowerRequest.power', index=1,
-            number=2, type=1, cpp_type=5, label=1,
-            has_default_value=False, default_value=float(0),
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=911,
-    serialized_end=962,
+  name='MotorSetPowerRequest',
+  full_name='CompLib.MotorSetPowerRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.MotorSetPowerRequest.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='port', full_name='CompLib.MotorSetPowerRequest.port', index=1,
+      number=2, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='power', full_name='CompLib.MotorSetPowerRequest.power', index=2,
+      number=3, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=911,
+  serialized_end=995,
 )
 
+
 _MOTORSSETPOWERREQUEST = _descriptor.Descriptor(
-    name='MotorsSetPowerRequest',
-    full_name='CompLib.MotorsSetPowerRequest',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='header', full_name='CompLib.MotorsSetPowerRequest.header', index=0,
-            number=1, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='requests', full_name='CompLib.MotorsSetPowerRequest.requests', index=1,
-            number=2, type=11, cpp_type=10, label=3,
-            has_default_value=False, default_value=[],
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=964,
-    serialized_end=1069,
+  name='MotorsSetPowerRequest',
+  full_name='CompLib.MotorsSetPowerRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.MotorsSetPowerRequest.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='requests', full_name='CompLib.MotorsSetPowerRequest.requests', index=1,
+      number=2, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=997,
+  serialized_end=1102,
 )
 
+
 _MOTORSETSPEEDREQUEST = _descriptor.Descriptor(
-    name='MotorSetSpeedRequest',
-    full_name='CompLib.MotorSetSpeedRequest',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='port', full_name='CompLib.MotorSetSpeedRequest.port', index=0,
-            number=1, type=13, cpp_type=3, label=1,
-            has_default_value=False, default_value=0,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='speed', full_name='CompLib.MotorSetSpeedRequest.speed', index=1,
-            number=2, type=1, cpp_type=5, label=1,
-            has_default_value=False, default_value=float(0),
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=1071,
-    serialized_end=1122,
+  name='MotorSetSpeedRequest',
+  full_name='CompLib.MotorSetSpeedRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.MotorSetSpeedRequest.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='port', full_name='CompLib.MotorSetSpeedRequest.port', index=1,
+      number=2, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='speed', full_name='CompLib.MotorSetSpeedRequest.speed', index=2,
+      number=3, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=1104,
+  serialized_end=1188,
 )
 
+
 _MOTORSSETSPEEDREQUEST = _descriptor.Descriptor(
-    name='MotorsSetSpeedRequest',
-    full_name='CompLib.MotorsSetSpeedRequest',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='header', full_name='CompLib.MotorsSetSpeedRequest.header', index=0,
-            number=1, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='requests', full_name='CompLib.MotorsSetSpeedRequest.requests', index=1,
-            number=2, type=11, cpp_type=10, label=3,
-            has_default_value=False, default_value=[],
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=1124,
-    serialized_end=1229,
+  name='MotorsSetSpeedRequest',
+  full_name='CompLib.MotorsSetSpeedRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.MotorsSetSpeedRequest.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='requests', full_name='CompLib.MotorsSetSpeedRequest.requests', index=1,
+      number=2, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=1190,
+  serialized_end=1295,
 )
 
+
+_MOTORSETPULSEWIDTHREQUEST = _descriptor.Descriptor(
+  name='MotorSetPulseWidthRequest',
+  full_name='CompLib.MotorSetPulseWidthRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.MotorSetPulseWidthRequest.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='port', full_name='CompLib.MotorSetPulseWidthRequest.port', index=1,
+      number=2, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='percent', full_name='CompLib.MotorSetPulseWidthRequest.percent', index=2,
+      number=3, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=1297,
+  serialized_end=1388,
+)
+
+
+_MOTORSSETPULSEWIDTHREQUEST = _descriptor.Descriptor(
+  name='MotorsSetPulseWidthRequest',
+  full_name='CompLib.MotorsSetPulseWidthRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.MotorsSetPulseWidthRequest.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='requests', full_name='CompLib.MotorsSetPulseWidthRequest.requests', index=1,
+      number=2, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=1390,
+  serialized_end=1505,
+)
+
+
 _ODOMETRYREADREQUEST = _descriptor.Descriptor(
-    name='OdometryReadRequest',
-    full_name='CompLib.OdometryReadRequest',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='header', full_name='CompLib.OdometryReadRequest.header', index=0,
-            number=1, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=1231,
-    serialized_end=1285,
+  name='OdometryReadRequest',
+  full_name='CompLib.OdometryReadRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.OdometryReadRequest.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=1507,
+  serialized_end=1561,
 )
 
+
 _ODOMETRYREADRESPONSE = _descriptor.Descriptor(
-    name='OdometryReadResponse',
-    full_name='CompLib.OdometryReadResponse',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='header', full_name='CompLib.OdometryReadResponse.header', index=0,
-            number=1, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='status', full_name='CompLib.OdometryReadResponse.status', index=1,
-            number=2, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='x_position', full_name='CompLib.OdometryReadResponse.x_position', index=2,
-            number=3, type=1, cpp_type=5, label=1,
-            has_default_value=False, default_value=float(0),
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='y_position', full_name='CompLib.OdometryReadResponse.y_position', index=3,
-            number=4, type=1, cpp_type=5, label=1,
-            has_default_value=False, default_value=float(0),
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='orientation', full_name='CompLib.OdometryReadResponse.orientation', index=4,
-            number=5, type=1, cpp_type=5, label=1,
-            has_default_value=False, default_value=float(0),
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=1288,
-    serialized_end=1437,
+  name='OdometryReadResponse',
+  full_name='CompLib.OdometryReadResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.OdometryReadResponse.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='status', full_name='CompLib.OdometryReadResponse.status', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='x_position', full_name='CompLib.OdometryReadResponse.x_position', index=2,
+      number=3, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='y_position', full_name='CompLib.OdometryReadResponse.y_position', index=3,
+      number=4, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='orientation', full_name='CompLib.OdometryReadResponse.orientation', index=4,
+      number=5, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=1564,
+  serialized_end=1713,
 )
 
+
 _DRIVEDISTANCEREQUEST = _descriptor.Descriptor(
-    name='DriveDistanceRequest',
-    full_name='CompLib.DriveDistanceRequest',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='header', full_name='CompLib.DriveDistanceRequest.header', index=0,
-            number=1, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='distance_m', full_name='CompLib.DriveDistanceRequest.distance_m', index=1,
-            number=2, type=1, cpp_type=5, label=1,
-            has_default_value=False, default_value=float(0),
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='velocity_m_s', full_name='CompLib.DriveDistanceRequest.velocity_m_s', index=2,
-            number=3, type=1, cpp_type=5, label=1,
-            has_default_value=False, default_value=float(0),
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=1439,
-    serialized_end=1536,
+  name='DriveDistanceRequest',
+  full_name='CompLib.DriveDistanceRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.DriveDistanceRequest.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='distance_m', full_name='CompLib.DriveDistanceRequest.distance_m', index=1,
+      number=2, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='velocity_m_s', full_name='CompLib.DriveDistanceRequest.velocity_m_s', index=2,
+      number=3, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=1715,
+  serialized_end=1812,
 )
 
+
 _TURNDEGREESREQUEST = _descriptor.Descriptor(
-    name='TurnDegreesRequest',
-    full_name='CompLib.TurnDegreesRequest',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='header', full_name='CompLib.TurnDegreesRequest.header', index=0,
-            number=1, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='angle_degrees', full_name='CompLib.TurnDegreesRequest.angle_degrees', index=1,
-            number=2, type=1, cpp_type=5, label=1,
-            has_default_value=False, default_value=float(0),
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='velocity_rad_s', full_name='CompLib.TurnDegreesRequest.velocity_rad_s', index=2,
-            number=3, type=1, cpp_type=5, label=1,
-            has_default_value=False, default_value=float(0),
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=1538,
-    serialized_end=1638,
+  name='TurnDegreesRequest',
+  full_name='CompLib.TurnDegreesRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.TurnDegreesRequest.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='angle_degrees', full_name='CompLib.TurnDegreesRequest.angle_degrees', index=1,
+      number=2, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='velocity_rad_s', full_name='CompLib.TurnDegreesRequest.velocity_rad_s', index=2,
+      number=3, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=1814,
+  serialized_end=1914,
 )
 
+
 _DRIVEREQUEST = _descriptor.Descriptor(
-    name='DriveRequest',
-    full_name='CompLib.DriveRequest',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='header', full_name='CompLib.DriveRequest.header', index=0,
-            number=1, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='linear_velocity_m_s', full_name='CompLib.DriveRequest.linear_velocity_m_s', index=1,
-            number=2, type=1, cpp_type=5, label=1,
-            has_default_value=False, default_value=float(0),
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-        _descriptor.FieldDescriptor(
-            name='angular_velocity_rad_s', full_name='CompLib.DriveRequest.angular_velocity_rad_s', index=2,
-            number=3, type=1, cpp_type=5, label=1,
-            has_default_value=False, default_value=float(0),
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=1640,
-    serialized_end=1748,
+  name='DriveRequest',
+  full_name='CompLib.DriveRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.DriveRequest.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='linear_velocity_m_s', full_name='CompLib.DriveRequest.linear_velocity_m_s', index=1,
+      number=2, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='angular_velocity_rad_s', full_name='CompLib.DriveRequest.angular_velocity_rad_s', index=2,
+      number=3, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=1916,
+  serialized_end=2024,
 )
 
+
 _HEALTHUPDATEREQUEST = _descriptor.Descriptor(
-    name='HealthUpdateRequest',
-    full_name='CompLib.HealthUpdateRequest',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    create_key=_descriptor._internal_create_key,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='header', full_name='CompLib.HealthUpdateRequest.header', index=0,
-            number=1, type=11, cpp_type=10, label=1,
-            has_default_value=False, default_value=None,
-            message_type=None, enum_type=None, containing_type=None,
-            is_extension=False, extension_scope=None,
-            serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
-    ],
-    extensions=[
-    ],
-    nested_types=[],
-    enum_types=[
-    ],
-    serialized_options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[
-    ],
-    serialized_start=1750,
-    serialized_end=1804,
+  name='HealthUpdateRequest',
+  full_name='CompLib.HealthUpdateRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='header', full_name='CompLib.HealthUpdateRequest.header', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=2026,
+  serialized_end=2080,
 )
 
 _GENERICREQUEST.fields_by_name['header'].message_type = _HEADER
@@ -870,10 +995,15 @@ _IRSENSORSDISABLEREQUEST.fields_by_name['header'].message_type = _HEADER
 _IRSENSORSREADALLREQUEST.fields_by_name['header'].message_type = _HEADER
 _IRSENSORSREADALLRESPONSE.fields_by_name['header'].message_type = _HEADER
 _IRSENSORSREADALLRESPONSE.fields_by_name['status'].message_type = _STATUS
+_MOTORSETPOWERREQUEST.fields_by_name['header'].message_type = _HEADER
 _MOTORSSETPOWERREQUEST.fields_by_name['header'].message_type = _HEADER
 _MOTORSSETPOWERREQUEST.fields_by_name['requests'].message_type = _MOTORSETPOWERREQUEST
+_MOTORSETSPEEDREQUEST.fields_by_name['header'].message_type = _HEADER
 _MOTORSSETSPEEDREQUEST.fields_by_name['header'].message_type = _HEADER
 _MOTORSSETSPEEDREQUEST.fields_by_name['requests'].message_type = _MOTORSETSPEEDREQUEST
+_MOTORSETPULSEWIDTHREQUEST.fields_by_name['header'].message_type = _HEADER
+_MOTORSSETPULSEWIDTHREQUEST.fields_by_name['header'].message_type = _HEADER
+_MOTORSSETPULSEWIDTHREQUEST.fields_by_name['requests'].message_type = _MOTORSETPULSEWIDTHREQUEST
 _ODOMETRYREADREQUEST.fields_by_name['header'].message_type = _HEADER
 _ODOMETRYREADRESPONSE.fields_by_name['header'].message_type = _HEADER
 _ODOMETRYREADRESPONSE.fields_by_name['status'].message_type = _STATUS
@@ -897,6 +1027,8 @@ DESCRIPTOR.message_types_by_name['MotorSetPowerRequest'] = _MOTORSETPOWERREQUEST
 DESCRIPTOR.message_types_by_name['MotorsSetPowerRequest'] = _MOTORSSETPOWERREQUEST
 DESCRIPTOR.message_types_by_name['MotorSetSpeedRequest'] = _MOTORSETSPEEDREQUEST
 DESCRIPTOR.message_types_by_name['MotorsSetSpeedRequest'] = _MOTORSSETSPEEDREQUEST
+DESCRIPTOR.message_types_by_name['MotorSetPulseWidthRequest'] = _MOTORSETPULSEWIDTHREQUEST
+DESCRIPTOR.message_types_by_name['MotorsSetPulseWidthRequest'] = _MOTORSSETPULSEWIDTHREQUEST
 DESCRIPTOR.message_types_by_name['OdometryReadRequest'] = _ODOMETRYREADREQUEST
 DESCRIPTOR.message_types_by_name['OdometryReadResponse'] = _ODOMETRYREADRESPONSE
 DESCRIPTOR.message_types_by_name['DriveDistanceRequest'] = _DRIVEDISTANCEREQUEST
@@ -906,163 +1038,174 @@ DESCRIPTOR.message_types_by_name['HealthUpdateRequest'] = _HEALTHUPDATEREQUEST
 _sym_db.RegisterFileDescriptor(DESCRIPTOR)
 
 Header = _reflection.GeneratedProtocolMessageType('Header', (_message.Message,), {
-    'DESCRIPTOR': _HEADER,
-    '__module__': 'CompLib_pb2'
-    # @@protoc_insertion_point(class_scope:CompLib.Header)
-})
+  'DESCRIPTOR' : _HEADER,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.Header)
+  })
 _sym_db.RegisterMessage(Header)
 
 Status = _reflection.GeneratedProtocolMessageType('Status', (_message.Message,), {
-    'DESCRIPTOR': _STATUS,
-    '__module__': 'CompLib_pb2'
-    # @@protoc_insertion_point(class_scope:CompLib.Status)
-})
+  'DESCRIPTOR' : _STATUS,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.Status)
+  })
 _sym_db.RegisterMessage(Status)
 
 GenericRequest = _reflection.GeneratedProtocolMessageType('GenericRequest', (_message.Message,), {
-    'DESCRIPTOR': _GENERICREQUEST,
-    '__module__': 'CompLib_pb2'
-    # @@protoc_insertion_point(class_scope:CompLib.GenericRequest)
-})
+  'DESCRIPTOR' : _GENERICREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.GenericRequest)
+  })
 _sym_db.RegisterMessage(GenericRequest)
 
 GenericResponse = _reflection.GeneratedProtocolMessageType('GenericResponse', (_message.Message,), {
-    'DESCRIPTOR': _GENERICRESPONSE,
-    '__module__': 'CompLib_pb2'
-    # @@protoc_insertion_point(class_scope:CompLib.GenericResponse)
-})
+  'DESCRIPTOR' : _GENERICRESPONSE,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.GenericResponse)
+  })
 _sym_db.RegisterMessage(GenericResponse)
 
-EncoderReadPositionsRequest = _reflection.GeneratedProtocolMessageType('EncoderReadPositionsRequest',
-                                                                       (_message.Message,), {
-                                                                           'DESCRIPTOR': _ENCODERREADPOSITIONSREQUEST,
-                                                                           '__module__': 'CompLib_pb2'
-                                                                           # @@protoc_insertion_point(class_scope:CompLib.EncoderReadPositionsRequest)
-                                                                       })
+EncoderReadPositionsRequest = _reflection.GeneratedProtocolMessageType('EncoderReadPositionsRequest', (_message.Message,), {
+  'DESCRIPTOR' : _ENCODERREADPOSITIONSREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.EncoderReadPositionsRequest)
+  })
 _sym_db.RegisterMessage(EncoderReadPositionsRequest)
 
-EncoderReadPositionsResponse = _reflection.GeneratedProtocolMessageType('EncoderReadPositionsResponse',
-                                                                        (_message.Message,), {
-                                                                            'DESCRIPTOR': _ENCODERREADPOSITIONSRESPONSE,
-                                                                            '__module__': 'CompLib_pb2'
-                                                                            # @@protoc_insertion_point(class_scope:CompLib.EncoderReadPositionsResponse)
-                                                                        })
+EncoderReadPositionsResponse = _reflection.GeneratedProtocolMessageType('EncoderReadPositionsResponse', (_message.Message,), {
+  'DESCRIPTOR' : _ENCODERREADPOSITIONSRESPONSE,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.EncoderReadPositionsResponse)
+  })
 _sym_db.RegisterMessage(EncoderReadPositionsResponse)
 
-EncoderReadVelocitiesRequest = _reflection.GeneratedProtocolMessageType('EncoderReadVelocitiesRequest',
-                                                                        (_message.Message,), {
-                                                                            'DESCRIPTOR': _ENCODERREADVELOCITIESREQUEST,
-                                                                            '__module__': 'CompLib_pb2'
-                                                                            # @@protoc_insertion_point(class_scope:CompLib.EncoderReadVelocitiesRequest)
-                                                                        })
+EncoderReadVelocitiesRequest = _reflection.GeneratedProtocolMessageType('EncoderReadVelocitiesRequest', (_message.Message,), {
+  'DESCRIPTOR' : _ENCODERREADVELOCITIESREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.EncoderReadVelocitiesRequest)
+  })
 _sym_db.RegisterMessage(EncoderReadVelocitiesRequest)
 
-EncoderReadVelocitiesResponse = _reflection.GeneratedProtocolMessageType('EncoderReadVelocitiesResponse',
-                                                                         (_message.Message,), {
-                                                                             'DESCRIPTOR': _ENCODERREADVELOCITIESRESPONSE,
-                                                                             '__module__': 'CompLib_pb2'
-                                                                             # @@protoc_insertion_point(class_scope:CompLib.EncoderReadVelocitiesResponse)
-                                                                         })
+EncoderReadVelocitiesResponse = _reflection.GeneratedProtocolMessageType('EncoderReadVelocitiesResponse', (_message.Message,), {
+  'DESCRIPTOR' : _ENCODERREADVELOCITIESRESPONSE,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.EncoderReadVelocitiesResponse)
+  })
 _sym_db.RegisterMessage(EncoderReadVelocitiesResponse)
 
 IRSensorsEnableRequest = _reflection.GeneratedProtocolMessageType('IRSensorsEnableRequest', (_message.Message,), {
-    'DESCRIPTOR': _IRSENSORSENABLEREQUEST,
-    '__module__': 'CompLib_pb2'
-    # @@protoc_insertion_point(class_scope:CompLib.IRSensorsEnableRequest)
-})
+  'DESCRIPTOR' : _IRSENSORSENABLEREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.IRSensorsEnableRequest)
+  })
 _sym_db.RegisterMessage(IRSensorsEnableRequest)
 
 IRSensorsDisableRequest = _reflection.GeneratedProtocolMessageType('IRSensorsDisableRequest', (_message.Message,), {
-    'DESCRIPTOR': _IRSENSORSDISABLEREQUEST,
-    '__module__': 'CompLib_pb2'
-    # @@protoc_insertion_point(class_scope:CompLib.IRSensorsDisableRequest)
-})
+  'DESCRIPTOR' : _IRSENSORSDISABLEREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.IRSensorsDisableRequest)
+  })
 _sym_db.RegisterMessage(IRSensorsDisableRequest)
 
 IRSensorsReadAllRequest = _reflection.GeneratedProtocolMessageType('IRSensorsReadAllRequest', (_message.Message,), {
-    'DESCRIPTOR': _IRSENSORSREADALLREQUEST,
-    '__module__': 'CompLib_pb2'
-    # @@protoc_insertion_point(class_scope:CompLib.IRSensorsReadAllRequest)
-})
+  'DESCRIPTOR' : _IRSENSORSREADALLREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.IRSensorsReadAllRequest)
+  })
 _sym_db.RegisterMessage(IRSensorsReadAllRequest)
 
 IRSensorsReadAllResponse = _reflection.GeneratedProtocolMessageType('IRSensorsReadAllResponse', (_message.Message,), {
-    'DESCRIPTOR': _IRSENSORSREADALLRESPONSE,
-    '__module__': 'CompLib_pb2'
-    # @@protoc_insertion_point(class_scope:CompLib.IRSensorsReadAllResponse)
-})
+  'DESCRIPTOR' : _IRSENSORSREADALLRESPONSE,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.IRSensorsReadAllResponse)
+  })
 _sym_db.RegisterMessage(IRSensorsReadAllResponse)
 
 MotorSetPowerRequest = _reflection.GeneratedProtocolMessageType('MotorSetPowerRequest', (_message.Message,), {
-    'DESCRIPTOR': _MOTORSETPOWERREQUEST,
-    '__module__': 'CompLib_pb2'
-    # @@protoc_insertion_point(class_scope:CompLib.MotorSetPowerRequest)
-})
+  'DESCRIPTOR' : _MOTORSETPOWERREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.MotorSetPowerRequest)
+  })
 _sym_db.RegisterMessage(MotorSetPowerRequest)
 
 MotorsSetPowerRequest = _reflection.GeneratedProtocolMessageType('MotorsSetPowerRequest', (_message.Message,), {
-    'DESCRIPTOR': _MOTORSSETPOWERREQUEST,
-    '__module__': 'CompLib_pb2'
-    # @@protoc_insertion_point(class_scope:CompLib.MotorsSetPowerRequest)
-})
+  'DESCRIPTOR' : _MOTORSSETPOWERREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.MotorsSetPowerRequest)
+  })
 _sym_db.RegisterMessage(MotorsSetPowerRequest)
 
 MotorSetSpeedRequest = _reflection.GeneratedProtocolMessageType('MotorSetSpeedRequest', (_message.Message,), {
-    'DESCRIPTOR': _MOTORSETSPEEDREQUEST,
-    '__module__': 'CompLib_pb2'
-    # @@protoc_insertion_point(class_scope:CompLib.MotorSetSpeedRequest)
-})
+  'DESCRIPTOR' : _MOTORSETSPEEDREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.MotorSetSpeedRequest)
+  })
 _sym_db.RegisterMessage(MotorSetSpeedRequest)
 
 MotorsSetSpeedRequest = _reflection.GeneratedProtocolMessageType('MotorsSetSpeedRequest', (_message.Message,), {
-    'DESCRIPTOR': _MOTORSSETSPEEDREQUEST,
-    '__module__': 'CompLib_pb2'
-    # @@protoc_insertion_point(class_scope:CompLib.MotorsSetSpeedRequest)
-})
+  'DESCRIPTOR' : _MOTORSSETSPEEDREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.MotorsSetSpeedRequest)
+  })
 _sym_db.RegisterMessage(MotorsSetSpeedRequest)
 
+MotorSetPulseWidthRequest = _reflection.GeneratedProtocolMessageType('MotorSetPulseWidthRequest', (_message.Message,), {
+  'DESCRIPTOR' : _MOTORSETPULSEWIDTHREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.MotorSetPulseWidthRequest)
+  })
+_sym_db.RegisterMessage(MotorSetPulseWidthRequest)
+
+MotorsSetPulseWidthRequest = _reflection.GeneratedProtocolMessageType('MotorsSetPulseWidthRequest', (_message.Message,), {
+  'DESCRIPTOR' : _MOTORSSETPULSEWIDTHREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.MotorsSetPulseWidthRequest)
+  })
+_sym_db.RegisterMessage(MotorsSetPulseWidthRequest)
+
 OdometryReadRequest = _reflection.GeneratedProtocolMessageType('OdometryReadRequest', (_message.Message,), {
-    'DESCRIPTOR': _ODOMETRYREADREQUEST,
-    '__module__': 'CompLib_pb2'
-    # @@protoc_insertion_point(class_scope:CompLib.OdometryReadRequest)
-})
+  'DESCRIPTOR' : _ODOMETRYREADREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.OdometryReadRequest)
+  })
 _sym_db.RegisterMessage(OdometryReadRequest)
 
 OdometryReadResponse = _reflection.GeneratedProtocolMessageType('OdometryReadResponse', (_message.Message,), {
-    'DESCRIPTOR': _ODOMETRYREADRESPONSE,
-    '__module__': 'CompLib_pb2'
-    # @@protoc_insertion_point(class_scope:CompLib.OdometryReadResponse)
-})
+  'DESCRIPTOR' : _ODOMETRYREADRESPONSE,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.OdometryReadResponse)
+  })
 _sym_db.RegisterMessage(OdometryReadResponse)
 
 DriveDistanceRequest = _reflection.GeneratedProtocolMessageType('DriveDistanceRequest', (_message.Message,), {
-    'DESCRIPTOR': _DRIVEDISTANCEREQUEST,
-    '__module__': 'CompLib_pb2'
-    # @@protoc_insertion_point(class_scope:CompLib.DriveDistanceRequest)
-})
+  'DESCRIPTOR' : _DRIVEDISTANCEREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.DriveDistanceRequest)
+  })
 _sym_db.RegisterMessage(DriveDistanceRequest)
 
 TurnDegreesRequest = _reflection.GeneratedProtocolMessageType('TurnDegreesRequest', (_message.Message,), {
-    'DESCRIPTOR': _TURNDEGREESREQUEST,
-    '__module__': 'CompLib_pb2'
-    # @@protoc_insertion_point(class_scope:CompLib.TurnDegreesRequest)
-})
+  'DESCRIPTOR' : _TURNDEGREESREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.TurnDegreesRequest)
+  })
 _sym_db.RegisterMessage(TurnDegreesRequest)
 
 DriveRequest = _reflection.GeneratedProtocolMessageType('DriveRequest', (_message.Message,), {
-    'DESCRIPTOR': _DRIVEREQUEST,
-    '__module__': 'CompLib_pb2'
-    # @@protoc_insertion_point(class_scope:CompLib.DriveRequest)
-})
+  'DESCRIPTOR' : _DRIVEREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.DriveRequest)
+  })
 _sym_db.RegisterMessage(DriveRequest)
 
 HealthUpdateRequest = _reflection.GeneratedProtocolMessageType('HealthUpdateRequest', (_message.Message,), {
-    'DESCRIPTOR': _HEALTHUPDATEREQUEST,
-    '__module__': 'CompLib_pb2'
-    # @@protoc_insertion_point(class_scope:CompLib.HealthUpdateRequest)
-})
+  'DESCRIPTOR' : _HEALTHUPDATEREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.HealthUpdateRequest)
+  })
 _sym_db.RegisterMessage(HealthUpdateRequest)
 
+
 _ENCODERREADPOSITIONSRESPONSE.fields_by_name['positions']._options = None
 _ENCODERREADVELOCITIESRESPONSE.fields_by_name['velocities']._options = None
 _IRSENSORSREADALLRESPONSE.fields_by_name['data']._options = None
diff --git a/client/compLib/IRSensor.py b/client/compLib/IRSensor.py
index a0075ce..ce7e29d 100644
--- a/client/compLib/IRSensor.py
+++ b/client/compLib/IRSensor.py
@@ -1,3 +1,5 @@
+import time
+
 import compLib.CompLib_pb2 as CompLib_pb2
 
 from compLib.CompLibClient import CompLibClient
@@ -17,7 +19,8 @@ class IRSensor(object):
         request.header.message_type = request.DESCRIPTOR.full_name
 
         response = CompLib_pb2.IRSensorsReadAllResponse()
-        response.ParseFromString(CompLibClient.send(request.SerializeToString(), request.ByteSize()))
+        response.ParseFromString(CompLibClient.send(
+            request.SerializeToString(), request.ByteSize()))
 
         return [i for i in response.data]
 
@@ -29,6 +32,7 @@ class IRSensor(object):
         request.header.message_type = request.DESCRIPTOR.full_name
 
         CompLibClient.send(request.SerializeToString(), request.ByteSize())
+        time.sleep(0.1)  # IR sensor reading is async -> Wait a bit
 
     @staticmethod
     def disable():
@@ -38,3 +42,4 @@ class IRSensor(object):
         request.header.message_type = request.DESCRIPTOR.full_name
 
         CompLibClient.send(request.SerializeToString(), request.ByteSize())
+        time.sleep(0.1)  # IR sensor reading is async -> Wait a bit
diff --git a/client/compLib/Motor.py b/client/compLib/Motor.py
index fbfced1..4a05e44 100644
--- a/client/compLib/Motor.py
+++ b/client/compLib/Motor.py
@@ -5,15 +5,15 @@ MOTOR_COUNT = 4
 
 
 class Motor(object):
-    """Class used to control the motors
+    """Klasse zum Ansteuern der Motoren
     """
 
     @staticmethod
     def power(port: int, percent: float):
-        """Set specified motor to percentage power
+        """Motor auf eine prozentuale Leistung der Höchstgeschwindigkeit einstellen
 
-        :param port: Port, which the motor is connected to. 0-3
-        :param percent: Percentage of max speed. between -100 and 100
+        :param port: Port, an welchen der Motor angestecht wird. 0-3
+        :param percent: Prozentsatz der Höchstgeschwindigkeit. zwischen -100 und 100
         :raises: IndexError
         """
 
@@ -21,9 +21,10 @@ class Motor(object):
             raise IndexError("Invalid Motor port specified!")
 
         if percent < -100 or percent > 100:
-            raise IndexError("Invalid Motor speed specified! Speed is between -100 and 100 percent!")
+            raise IndexError(
+                "Invalid Motor speed specified! Speed is between -100 and 100 percent!")
 
-        request = CompLib_pb2.MotorsSetPowerRequest()
+        request = CompLib_pb2.MotorSetPowerRequest()
         request.header.message_type = request.DESCRIPTOR.full_name
         request.port = port
         request.power = percent
@@ -32,9 +33,9 @@ class Motor(object):
 
     @staticmethod
     def multiple_power(*arguments: tuple[int, float]):
-        """Set specified motors to percentage power
+        """Mehrere Motoren auf eine prozentuale Leistung der Höchstgeschwindigkeit einstellen
 
-        :param arguments: tuples of port, percentage
+        :param arguments: tuple von port, percentage
         :raises: IndexError
         """
         request = CompLib_pb2.MotorsSetPowerRequest()
@@ -45,7 +46,8 @@ class Motor(object):
                 raise IndexError("Invalid Motor port specified!")
 
             if percent < -100 or percent > 100:
-                raise IndexError("Invalid Motor speed specified! Speed is between -100 and 100 percent!")
+                raise IndexError(
+                    "Invalid Motor speed specified! Speed is between -100 and 100 percent!")
 
             inner_request = CompLib_pb2.MotorSetPowerRequest()
             inner_request.port = port
@@ -57,17 +59,17 @@ class Motor(object):
 
     @staticmethod
     def speed(port: int, speed: float):
-        """Set specified motor to percentage power
+        """Geschwindigkeit des Motors einstellen
 
-        :param port: Port, which the motor is connected to. 0-3
-        :param speed: Speed at which a motor should turn in RPM
+        :param port: Port, an welchen der Motor angestecht wird. 0-3
+        :param speed: Drehzahl, mit der sich ein Motor dreht, in Radianten pro Sekunde (rad/s)
         :raises: IndexError
         """
 
         if port < 0 or port >= MOTOR_COUNT:
             raise IndexError("Invalid Motor port specified!")
 
-        request = CompLib_pb2.MotorsSetSpeedRequest()
+        request = CompLib_pb2.MotorSetSpeedRequest()
         request.header.message_type = request.DESCRIPTOR.full_name
         request.port = port
         request.speed = speed
@@ -76,9 +78,9 @@ class Motor(object):
 
     @staticmethod
     def multiple_speed(*arguments: tuple[int, float]):
-        """Set specified motor to percentage power
+        """Geschwindigkeit mehrerer Motoren einstellen
 
-        :param arguments: tuples of port, speed in rpm
+        :param arguments: tuple von port, Geschwindigkeit in Radianten pro Sekunde (rad/s)
         :raises: IndexError
         """
 
@@ -97,21 +99,44 @@ class Motor(object):
 
         CompLibClient.send(request.SerializeToString(), request.ByteSize())
 
-    # @staticmethod
-    # def all_off():
-    #     """
-    #     Turns of all motors
-    #     """
-    #     Logging.get_logger().debug(f"Motor.all_off")
-    #
-    #     for i in range(1, MOTOR_COUNT + 1):
-    #         Motor.active_break(i)
+    @staticmethod
+    def pulse_width(port: int, percent: float):
+        """Setzen den Pulsbreite eines Motors in Prozent der Periode
 
-    # @staticmethod
-    # def active_break(port: int):
-    #     """
-    #     Actively break with a specific motor
-    #
-    #     :param port: Port, which the motor is connected to. 1-4
-    #     """
-    #     Motor.pwm(port, 0, MotorMode.BREAK)
+        :param port: Port, an welchen der Motor angestecht wird. 0-3
+        :param percent: Prozent der Periode zwischen -100 und 100
+        :raises: IndexError
+        """
+
+        if port < 0 or port >= MOTOR_COUNT:
+            raise IndexError("Invalid Motor port specified!")
+
+        request = CompLib_pb2.MotorSetPulseWidthRequest()
+        request.header.message_type = request.DESCRIPTOR.full_name
+        request.port = port
+        request.percent = percent
+
+        CompLibClient.send(request.SerializeToString(), request.ByteSize())
+
+    @staticmethod
+    def multiple_pulse_width(*arguments: tuple[int, float]):
+        """Setzen den Pulsbreite mehreer Motoren in Prozent der Periode
+
+        :param arguments: tuple von port, prozent
+        :raises: IndexError
+        """
+
+        request = CompLib_pb2.MotorsSetPulseWidthRequest()
+        request.header.message_type = request.DESCRIPTOR.full_name
+
+        for port, percent in arguments:
+            if port < 0 or port >= MOTOR_COUNT:
+                raise IndexError("Invalid Motor port specified!")
+
+            inner_request = CompLib_pb2.MotorSetPulseWidthRequest()
+            inner_request.port = port
+            inner_request.percent = percent
+
+            request.requests.append(inner_request)
+
+        CompLibClient.send(request.SerializeToString(), request.ByteSize())
diff --git a/client/docs/source/faq.rst b/client/docs/source/faq.rst
new file mode 100644
index 0000000..513a48a
--- /dev/null
+++ b/client/docs/source/faq.rst
@@ -0,0 +1,12 @@
+FAQ
+###
+
+Was ist das Passwort für die Entwicklungsumgebung?
+--------------------------------------------------
+``compair``
+
+Wie verbinde ich mich zur Entwicklungsumgebung?
+-----------------------------------------------
+
+See :ref:`gettingstarted_codeserver`
+
diff --git a/client/docs/source/gettingStarted/codeServer.rst b/client/docs/source/gettingStarted/codeServer.rst
new file mode 100644
index 0000000..0a7c27c
--- /dev/null
+++ b/client/docs/source/gettingStarted/codeServer.rst
@@ -0,0 +1,11 @@
+.. _gettingstarted_codeserver:
+
+Programmierumgebung
+###################
+
+Als Umgebung zur Programmierung des Roboters wird `code-server <https://github.com/coder/code-server>`_ eingesetzt, welche bereits am Roboter vorinstalliert ist.
+
+Verbindung zur Entwicklungsumgebung herstellen
+----------------------------------------------
+Am Roboter wird die IP-Adresse des Raspberry Pi angezeigt. Um nun die Verbindung herzustellen, muss man in einem Web-Browser einfach ``<roboter_ip>:8080`` eingeben.
+Das Passwort für Visual Studio Code im Browser ist ``compair``!
\ No newline at end of file
diff --git a/client/docs/source/gettingStarted/firstProgram.rst b/client/docs/source/gettingStarted/firstProgram.rst
new file mode 100644
index 0000000..cb28686
--- /dev/null
+++ b/client/docs/source/gettingStarted/firstProgram.rst
@@ -0,0 +1,26 @@
+Mein erstes Programm
+####################
+
+Um mit der Programmierung zu beginnen, müssen wir zunächst einen neuen Ordner erstellen, in dem alle unsere Python-Dateien gespeichert werden.
+|codeServerFolder|
+
+Sie können diesen Ordner nennen, wie Sie wollen, für dieses Beispiel heißt er ``compAIR``.
+Im nächsten Schritt erstellen wir unsere Datei ``main.py``.
+|codeServerFile|
+
+Dann können wir beginnen, unseren Code in diese Datei zu schreiben.
+
+.. code-block:: python
+    
+    print("Hallo Welt")
+
+Praktischerweise können wir die Datei auch über die VS-Code-Plattform ausführen.
+|codeServerRun|
+
+Dann öffnet sich ein Terminal, der die Ausgabe unseres Programms anzeigt.
+|codeServerTerminal|
+
+.. |codeServerFolder| image:: images/06_codeServerFolder.png
+.. |codeServerFile| image:: images/03_codeServerFile.png
+.. |codeServerRun| image:: images/04_codeServerRun.png
+.. |codeServerTerminal| image:: images/05_codeServerTerminal.png
diff --git a/client/docs/source/gettingStarted/images/01_boot.png b/client/docs/source/gettingStarted/images/01_boot.png
new file mode 100644
index 0000000..32eaf7c
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index 0000000..0cb0df7
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diff --git a/client/docs/source/gettingStarted/images/03_codeServerFile.png b/client/docs/source/gettingStarted/images/03_codeServerFile.png
new file mode 100644
index 0000000..adec026
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diff --git a/client/docs/source/gettingStarted/images/04_codeServerRun.png b/client/docs/source/gettingStarted/images/04_codeServerRun.png
new file mode 100644
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diff --git a/client/docs/source/gettingStarted/images/05_codeServerTerminal.png b/client/docs/source/gettingStarted/images/05_codeServerTerminal.png
new file mode 100644
index 0000000..bac5b4b
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diff --git a/client/docs/source/gettingStarted/images/06_codeServerFolder.png b/client/docs/source/gettingStarted/images/06_codeServerFolder.png
new file mode 100644
index 0000000..463cb18
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diff --git a/client/docs/source/gettingStarted/images/07_irSensor.webp b/client/docs/source/gettingStarted/images/07_irSensor.webp
new file mode 100644
index 0000000..4a1d412
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diff --git a/client/docs/source/gettingStarted/index.rst b/client/docs/source/gettingStarted/index.rst
new file mode 100644
index 0000000..d3333ef
--- /dev/null
+++ b/client/docs/source/gettingStarted/index.rst
@@ -0,0 +1,11 @@
+Erste Schritte
+##############
+
+.. toctree::
+    :maxdepth: 5
+    
+    wifi.rst
+    codeServer.rst
+    firstProgram.rst
+    secondProgram.rst
+    thridProgram.rst
diff --git a/client/docs/source/gettingStarted/secondProgram.rst b/client/docs/source/gettingStarted/secondProgram.rst
new file mode 100644
index 0000000..9f7d617
--- /dev/null
+++ b/client/docs/source/gettingStarted/secondProgram.rst
@@ -0,0 +1,313 @@
+Mein zweites Programm
+#####################
+
+Motoren ansteuern
+-----------------
+
+Um die Motoren des Roboters zu steuern, müssen wir zunächst das entsprechende Python-Modul am Anfang der Datei importieren. Dann können wir Motor.power(port, power) verwenden, um den Motor zu steuern.
+Dies ist auch ein guter Punkt, um sich mit der Dokumentation vertraut zu machen: Besuchen wir https://lib.comp-air.at/lib/Motor.html#compLib.Motor.Motor.power. Hier werden die beiden relevanten Parameter beschrieben.
+
+Als Beispiel wollen wir den rechten Motor für fünf Sekunden auf volle Geschwindigkeit setzen:
+
+.. code-block:: python
+    :linenos:
+
+    # motor.py
+    import time
+    from compLib.Motor import Motor
+
+    Motor.power(0, 100)
+    time.sleep(5)
+
+Gerade fahren
+-------------
+Um geradeaus zu fahren, müssen wir beide Motoren auf dieselbe Geschwindigkeit einstellen.
+Aber Achtung! Der rechte Motor muss umgedreht werden! Das liegt daran, dass einer nach rechts und einer nach links zeigt, sie sind also technisch gesehen gespiegelt.
+Wenn wir nun diesen Code ausführen, wird der Roboter 5 Sekunden lang vorwärts fahren:
+
+.. code-block:: python
+    :linenos:
+
+    # motor.py
+    import time
+    from compLib.Motor import Motor
+
+    Motor.power(0, -100)
+    Motor.power(3, 100)
+    time.sleep(5)
+
+**Erläuterung**
+
+| In ``Zeile 2`` wird das python-Paket ``time`` importiert. Wir brauchen es später, um auf die Fahrt des Roboters zu warten. Z.B.: ``time.sleep(5)``
+| In ``Zeile 3`` importieren wir die notwendigen Funktionen aus dem ``Motor``-Modul der compLib.
+| In ``Zeile 5`` stellen wir den ``rechten`` Motor so ein, dass er vorwärts fährt. Da der Motor rückwärts eingebaut ist, müssen wir den Wert auf ``-100`` setzen.
+| In ``Zeile 6`` stellen wir den ``linken`` Motor auf Vorwärtsfahrt ein. Hier können wir den Wert ``100`` verwenden, da der Motor in der richtigen Richtung eingebaut ist.
+| In ``Zeile 7`` müssen wir warten, bis der Roboter die Fahrbefehle tatsächlich ausführt. In diesem Fall warten wir ``5`` Sekunden lang.
+
+Danach wird das Programm beendet und der Roboter bleibt stehen.
+
+Mehr fahren
++++++++++++
+
+Jetzt ist es Zeit für einige komplexere Bewegungen. Um unseren Code modular und leicht lesbar zu halten, werden wir jede Aktion in eine eigene Funktion packen.
+
+.. code-block:: python
+    :linenos:
+
+    import time
+    from compLib.Motor import Motor
+
+    def driveForward():
+        Motor.power(0, -100)
+        Motor.power(3, 100)
+        time.sleep(2)
+
+In ``Zeile 4`` definieren wir die Funktion ``driveForward()``, die den Roboter mit voller Geschwindigkeit zwei Sekunden vorwärts bewegt.
+
+Jetzt werden wir eine Funktion für das Rückwärtsfahren definieren:
+
+.. code-block:: python
+    :linenos:
+
+    import time
+    from compLib.Motor import Motor
+
+    def driveForward():
+        Motor.power(0, -100)
+        Motor.power(3, 100)
+        time.sleep(2)
+
+    def driveBackward():
+        Motor.power(0, 100)
+        Motor.power(3, -100)
+        time.sleep(2)
+
+In ``Zeile 9`` haben wir die Funktion ``driveBackward()`` definiert, die den Roboter zwei Sekunden lang rückwärts fahren lässt.
+
+Jetzt können wir diese beiden Funktionen aufrufen und vorwärts und dann wieder rückwärts fahren:
+
+.. code-block:: python
+    :linenos:
+
+    import time
+    from compLib.Motor import Motor
+
+    def driveForward():
+        Motor.power(0, -100)
+        Motor.power(3, 100)
+        time.sleep(2)
+
+    def driveBackward():
+        Motor.power(0, 100)
+        Motor.power(3, -100)
+        time.sleep(2)
+
+    driveForward()
+    driveBackward()
+
+Wenn wir diesen Code ausführen, sollte der Roboter zunächst zwei Sekunden vorwärts und dann wieder zwei Sekunden rückwärts fahren und ungefähr an der gleichen Position wie beim Start anhalten.
+
+Zwischen den Zeilen ``14`` und ``15`` brauchen wir kein ``time.sleep(2)``, da der sleep-Befehl bereits in den Funktionen integriert ist.
+
+Jetzt wollen wir, dass der Roboter erst vorwärts fährt, dann zwei Sekunden stillsteht und dann wieder rückwärts in seine Ausgangsposition fährt.
+
+.. code-block:: python
+    :linenos:
+
+    import time
+    from compLib.Motor import Motor
+
+    def driveForward():
+        Motor.power(0, -100)
+        Motor.power(3, 100)
+        time.sleep(2)
+
+    def driveBackward():
+        Motor.power(0, 100)
+        Motor.power(3, -100)
+        time.sleep(2)
+
+    driveForward()
+    time.sleep(2)
+    driveBackward()
+
+Wenn wir den obigen Code ausführen, bleibt der Roboter nicht zwei Sekunden lang stehen, sondern fährt nach der Funktion ``driveForward()`` noch zwei Sekunden lang weiter. Warum passiert das? Um das zu verstehen, müssen wir wie der Roboter denken!
+
+**Erläuterung**
+
+| 1. (``Zeile 14``) Die Funktion Vorwärtsfahrt wird aufgerufen
+|   (``Zeile 5``) Motor 1 wird auf -100 gesetzt
+|   (``Zeile 6``) Motor 4 wird auf 100 gesetzt
+|   (``Zeile 7``) Zwei Sekunden warten und Motor 1 mit der Geschwindigkeit -100 und Motor 4 mit der Geschwindigkeit 100 bewegen (z.B. vorwärts fahren)
+
+| 2. (``Zeile 15``) Zwei Sekunden warten, die Motoren sind immer noch auf -100 und 100 eingestellt, also fahren wir weiter vorwärts
+
+| 3. (``Zeile 16``) Die Funktion Rückwärtsfahren wird aufgerufen
+|   (``Zeile 5``) Motor 1 wird auf 100 gesetzt
+|   (``Zeile 6``) Motor 4 wird auf -100 gesetzt
+|   (``Zeile 7``) Warte zwei Sekunden und bewege Motor 1 mit der Geschwindigkeit 100 und Motor 4 mit der Geschwindigkeit -100 (z.B. Rückwärtsfahren)
+
+| 4. Das Programm ist beendet, und alle Motordrehzahlen werden auf 0 gesetzt.
+
+Wir sehen also, dass wir die Motoren nach der Vorwärts- oder Rückwärtsfunktion wieder auf Geschwindigkeit ``0`` setzen müssen, wenn wir den Roboter anhalten wollen. Für diesen Anwendungsfall können wir eine neue Funktion ``stopMotors()`` schreiben, die die Geschwindigkeit für Motor ``0`` und ``3`` auf ``0`` setzt:
+
+.. code-block:: python
+    :linenos:
+
+    import time
+    from compLib.Motor import Motor
+
+    def driveForward():
+        Motor.power(0, -100)
+        Motor.power(3, 100)
+        time.sleep(2)
+
+    def driveBackward():
+        Motor.power(0, 100)
+        Motor.power(3, -100)
+        time.sleep(2)
+
+    def stopMotors():
+        Motor.power(0, 0)
+        Motor.power(3, 0)
+
+Wenn wir nun vorwärts fahren, dann zwei Sekunden warten und dann wieder rückwärts fahren wollen, können wir die Funktionen wie folgt aufrufen:
+
+.. code-block:: python
+    :linenos:
+
+    import time
+    from compLib.Motor import Motor
+
+    def driveForward():
+        Motor.power(0, -100)
+        Motor.power(3, 100)
+        time.sleep(2)
+
+    def driveBackward():
+        Motor.power(0, 100)
+        Motor.power(3, -100)
+        time.sleep(2)
+
+    def stopMotors():
+        Motor.power(0, 0)
+        Motor.power(3, 0)
+
+    driveForward()
+    stopMotors()
+    time.sleep(2)
+    driveBackward()
+
+Und endlich bekommen wir die Bewegung, die wir uns wünschen.
+
+**More Optimizations**
+
+Während der Code für sehr einfache Bewegungen funktioniert, wollen wir normalerweise nicht, dass unsere Funktionen entscheiden, wie lange wir vorwärts fahren. Vielleicht müssen wir manchmal vier Sekunden vorwärts fahren, und manchmal nur eine Sekunde.
+
+Nehmen wir an, wir wollen vier Sekunden vorwärts fahren. Wir wissen, dass ``driveForward()`` den Roboter zwei Sekunden vorwärts bewegen wird. Also können wir die Funktion einfach zwei Mal aufrufen!
+
+.. code-block:: python
+    :linenos:
+
+    import time
+    from compLib.Motor import Motor
+
+    def driveForward():
+        Motor.power(0, -100)
+        Motor.power(3, 100)
+        time.sleep(2)
+
+    driveForward()
+    driveForward()
+
+Was aber, wenn wir uns nur eine Sekunde vorwärts bewegen wollen? Oder vielleicht drei Sekunden? Mit der Funktion ``driveForward()`` können wir das im Moment nicht machen.
+
+Stattdessen werden wir die Funktion so umschreiben, dass sie einen Parameter akzeptiert, der die Zeit angibt.
+
+.. code-block:: python
+    :linenos:
+
+    import time
+    from compLib.Motor import Motor
+
+    def driveForward(seconds):
+        Motor.power(0, -100)
+        Motor.power(3, 100)
+        time.sleep(seconds)
+
+    driveForward(3)
+
+Und mit dieser neuen Funktion können wir drei Sekunden lang vorwärts fahren.
+Wie funktioniert das nun?
+
+In ``Zeile 4`` definieren wir die Funktion ``driveForward`` und sagen, dass sie einen Parameter ``seconds`` benötigt. Dieser Parameter ist im Grunde eine Variable, die wir uns zum Zeitpunkt der Definition wie einen Platzhalter vorstellen können. Wenn wir die Funktion definieren, wissen wir noch nicht, welchen Wert ``seconds`` haben wird.
+
+Später in ``Zeile 9``, wenn wir die Funktion aufrufen, übergeben wir den Wert ``3`` an die Funktion und unser Platzhalter ``seconds`` wird den Wert ``3`` haben. Der Roboter wird also drei Sekunden vorwärts fahren.
+
+Vielleicht wollen wir auch, dass der Roboter mit verschiedenen Geschwindigkeiten fahren kann. Wir können also einen weiteren Parameter mit dem Namen ``speed`` anlegen. Dann werden wir ein Programm schreiben, das den Roboter drei Sekunden mit voller Geschwindigkeit und dann fünf Sekunden mit halber Geschwindigkeit fahren lässt.
+
+.. code-block:: python
+    :linenos:
+
+    import time
+    from compLib.Motor import Motor
+
+    def driveForward(seconds, speed):
+        Motor.power(0, -speed)
+        Motor.power(3, speed)
+        time.sleep(seconds)
+
+    driveForward(3, 100)
+    driveForward(5, 50)
+
+In ``Zeile 9`` wird der Platzhalter ``seconds`` auf ``3`` und die ``Geschwindigkeit`` auf ``100`` gesetzt.
+In ``Zeile 10`` wird der Platzhalter ``seconds`` auf ``5`` und die ``Geschwindigkeit`` auf ``50`` gesetzt.
+
+**Bewährte Praktiken**
+Nun werden wir uns einige weitere Optimierungen und bewährte Verfahren ansehen.
+
+**1. Wir sollten den Schlafbefehl nicht in die Fahrfunktion einbauen.**
+
+Wir haben das bis jetzt getan, um ein Gefühl dafür zu bekommen, wie Funktionen funktionieren, und der Einfachheit halber. Später, wenn Sie anfangen, komplexere Programme zu schreiben, sollten Sie dies vermeiden.
+
+Das Beispiel von oben, in dem wir vorwärts und rückwärts gefahren sind und zwei Sekunden gewartet haben, sollte also wie folgt aussehen:
+
+.. code-block:: python
+    :linenos:
+
+    import time
+    from compLib.Motor import Motor
+
+    def driveForward(speed):
+        Motor.power(0, -speed)
+        Motor.power(3, speed)
+
+    def driveBackward(speed):
+        Motor.power(0, speed)
+        Motor.power(3, -speed)
+
+    def stopMotors():
+        Motor.power(0, 0)
+        Motor.power(3, 0)
+
+    driveForward(100)   # Set the motors to forward
+    time.sleep(2)       # Let the robot drive for 2 seconds
+    stopMotors()        # Now stop the robot
+
+    time.sleep(2)       # Wait another 2 seconds, robot is not moving
+
+    driveBackward(100)  # Now set the motors to a backwards speed
+    time.sleep(2)       # Let the robot continue driving for 2 seconds
+    stopMotors()        # And finally stop it again
+
+**Warum ist das so wichtig?**
+
+Normalerweise schlafen wir nicht sehr viel und führen in dieser Zeit andere Verarbeitungen durch. Zum Beispiel könnten wir ein Bild von der Kamera verarbeiten oder die IR-Sensoren auslesen. Wenn wir also eine Funktion wie ``driveForward()`` aufrufen, können wir davon ausgehen, dass sie im Hintergrund abläuft und wir andere Aufgaben erledigen, während sich der Roboter bewegt, anstatt nur darauf zu warten, dass er fertig wird.
+
+**2. Fahren Sie nicht zu langsam.**
+
+Wenn du die Fahrgeschwindigkeit auf eine sehr kleine Zahl einstellst, kann es sein, dass sich der Roboter gar nicht mehr bewegt, weil die Motoren eine bestimmte Menge an Energie benötigen, um den Roboter überhaupt zu bewegen.
+
+**3. Fahren Sie nicht zu schnell.**
+
+Wenn du die Fahrgeschwindigkeit auf eine sehr hohe Zahl einstellst (z. B. ``100``), könnte dein Roboter zu schnell für seine Sensoren sein. Dies wird später wichtig sein, wenn wir versuchen, eine schwarze Linie zu erkennen, aber zu schnell über sie fahren.
diff --git a/client/docs/source/gettingStarted/thridProgram.rst b/client/docs/source/gettingStarted/thridProgram.rst
new file mode 100644
index 0000000..762b544
--- /dev/null
+++ b/client/docs/source/gettingStarted/thridProgram.rst
@@ -0,0 +1,70 @@
+Mein drittes Programm
+#####################
+
+Der offizielle compAIR-Bot ist mit einer Reihe von Sensoren ausgestattet. Die wichtigsten sind die Infrarotsensoren und -sender, die an der Vorderseite des Roboters angebracht sind. Insgesamt gibt es fünf IR-Sensoren.
+
+Um loszulegen, muss man zunächst das entsprechende Modul wie folgt importieren:
+
+.. code-block:: python
+    :linenos:
+
+    from compLib.IRSensor import IRSensor
+
+|irSensor|
+
+
+Wie im obigen Diagramm zu sehen ist, verfügt jeder Sensor auch über einen entsprechenden IR-Sender / Emitter. Dieser Sender kann mit ``IRSensor.set(port, enable)`` aktiviert werden.
+
+Schalten wir nun alle fünf Sender ein:
+
+.. code-block:: python
+    :linenos:
+
+    from compLib.IRSensor import IRSensor
+
+    IRSensor.enable()
+
+Diese fünf verschiedenen Sensoren befinden sich an der Vorderseite des Roboters und sind wichtig, um schwarze Linien zu erkennen.
+
+Es ist sehr einfach, den Wert der Sensoren abzulesen:
+
+.. code-block:: python
+    :linenos:
+
+    from compLib.IRSensor import IRSensor
+
+    IRSensor.enable()
+
+    if IRSensor.read_all()[0] > 500:
+        print("high")
+    else:
+        print("low")
+
+**Erkennen einer schwarzen Linie**
+Um den IR-Sensor zu testen, kannst du deinen Roboter auf eine schwarze Linie stellen. Der Sensor in der Mitte sollte auf der schwarzen Linie liegen.
+
+.. code-block:: python
+    :linenos:
+
+    from compLib.IRSensor import IRSensor
+
+    IRSensor.enable()
+    COLOR_BREAK = 900
+
+    if IRSensor.read_all()[2] > COLOR_BREAK:
+        print("Robot is standing on a black line")
+    else:
+    print("Robot is NOT standing on a black line")
+
+Wenn das Programm ausgeführt wird, zeigt es an, dass der Roboter auf einer schwarzen Linie steht, wenn sich der mittlere IR-Sensor des Roboters über einer schwarzen Linie befindet, und es zeigt an, dass der Roboter NICHT auf einer schwarzen Linie steht, wenn sich der mittlere IR-Sensor nicht über einer Linie befindet.
+
+| In ``Zeile 1`` importieren wir das ``IRSensor``-Modul, das zur Kommunikation mit dem IR-Sensor-Board verwendet werden kann.
+| In ``Zeile 3`` wird der Sensor mit der Nummer ``3`` aktiviert. Wenn wir einen Sensor nicht aktivieren, können wir ihn nicht in unserem Programm verwenden.
+| In ``Zeile 4`` stellen wir einen Farbschwellenwert von ``900`` ein, mit dem wir später prüfen werden, ob der Sensorwert unter oder über diesem Schwellenwert liegt. Unterhalb bedeutet, dass sich eine helle Farbe unter dem IR-Sensor befindet und ein höherer Wert als ``900`` bedeutet, dass sich eine dunkle Farbe unter dem IR-Sensor befindet.
+
+| In ``Zeile 6`` lesen wir den Sensor Nummer ``2`` aus und prüfen, ob der Wert über dem von uns definierten Schwellenwert von ``900`` liegt. Wenn das der Fall ist, hat der IR-Sensor eine schwarze Linie erkannt.
+
+Wir werden nun das Programm so ändern, dass es alle ``0.1`` Sekunden prüft, ob sich eine schwarze Linie unter dem Roboter befindet, und wenn dies der Fall ist, eine Meldung ausgibt.
+
+
+.. |irSensor| image:: images/07_irSensor.webp
\ No newline at end of file
diff --git a/client/docs/source/gettingStarted/wifi.rst b/client/docs/source/gettingStarted/wifi.rst
new file mode 100644
index 0000000..f845842
--- /dev/null
+++ b/client/docs/source/gettingStarted/wifi.rst
@@ -0,0 +1,77 @@
+.. _gettingStarted_wifi:
+
+WLAN-Verbindung herstellen
+##########################
+
+Schritt für Schritt - macOS
+---------------------------
+1. SD-Karte aus dem Raspberry Pi bzw. Roboter entnehmen.
+2. Einstecken der SD-Karte in den Computer
+3. Öffnen der SD-Karte mit dem Namen "boot" |bootImage|
+4. Generieren des PSK auf `https://www.wireshark.org/tools/wpa-psk.html <https://www.wireshark.org/tools/wpa-psk.html>`_ |pskImage|
+5. Öffnen der Datei "wpa_supplicant.conf" auf der SD-Karte
+6. Einfügen der Konfiguration. Dabei muss die SSID und der vorher generierte PSK eingesetzt werden ::
+    
+    ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
+    update_config=1
+    country=AT
+
+    network={
+        ssid="EinTollerNameFürDasWlan"
+        psk="98117b165a48f25cbe36f288ddf597729a40feeea93054c19bfa8e5eab238541"
+    }
+
+7. Speichern, Auswerfen und wieder in den Raspberry Pi einbauen
+8. Starten des Roboters
+9. Die IP-Adresse sollte nun am Roboter angezeigt werden
+
+.. |bootImage| image:: images/01_boot.png
+.. |pskImage| image:: images/02_psk.png
+
+Weitere Informationen
+---------------------
+Die "wpa_supplicant.conf" Datei wird beim Start des Rpasberry Pi automatisch an den richtigen Ort kopiert, damit sich der Roboter zum Wlan verbindet.
+Eine genauere Anleitung wird vom Hersteller des Raspberry Pi `hier <https://www.raspberrypi.com/documentation/computers/configuration.html#configuring-networking-2>`_ bereitgestellt.
+
+Fehlerbehandlung
+----------------
+Sollte es dazu kommen, dass der Roboter nicht automatisch die Verbindung mit dem Netzwerk herstellt, kann eine Kabelgebundene Verbindung zur Diagnose von Fehlern genutzt werden.
+Dabei wird automatisch die IP-Adresse der Verbindung "eth" am Roboter angezeigt. Nach der erfolgreichen Verbindung zum Roboter mittels SSH kann die "wpa_cli" zur Fehlerbehandlung verwendet werden:
+::
+    
+    > wpa_cli
+        wpa_cli v2.9
+        Copyright (c) 2004-2019, Jouni Malinen <j@w1.fi> and contributors
+
+        This software may be distributed under the terms of the BSD license.
+        See README for more details.
+
+
+        Selected interface 'p2p-dev-wlan0'
+
+        Interactive mode
+
+    > interface wlan0
+        Connected to interface 'wlan0.
+    > scan
+        OK
+        <3>CTRL-EVENT-SCAN-STARTED
+        <3>CTRL-EVENT-SCAN-RESULTS
+    > scan_result
+        bssid / frequency / signal level / flags / ssid
+        68:02:b8:0c:d7:47	2462	-66	[WPA2-PSK-CCMP][ESS]	WG
+        68:02:b8:0c:d7:40	5220	-63	[WPA2-PSK-CCMP][ESS]	WG
+        34:2c:c4:da:dd:b9	5200	-65	[WPA-PSK-TKIP][WPA2-PSK-CCMP][WPS][ESS]	WLAN10573403
+        98:da:c4:e5:21:d0	2437	-57	[WPA2-PSK-CCMP][ESS]	WG
+        34:2c:c4:da:dd:c6	2412	-52	[WPA-PSK-][WPA2-PSK-CCMP+TKIP][WPS][ESS]	WLAN10573403
+        20:83:f8:07:5b:90	2467	-67	[WPA2-PSK-CCMP][WPS][ESS]	A1-075b8c
+        7c:39:53:94:49:82	5280	-77	[WPA2-PSK-CCMP][WPS][ESS]	A1-944980-5G
+        7c:39:53:94:49:81	2427	-68	[WPA2-PSK-CCMP][WPS][ESS]	A1-944980
+        90:fd:73:ac:d3:27	2452	-72	[WPA2-PSK-CCMP][WPS][ESS]	Drei_H288A_24G_eKy5
+        50:e0:39:3c:e5:80	5180	-82	[WPA2-PSK-CCMP][WPS][ESS]	A1-393CE57F
+        90:fd:73:ac:d3:28	5500	-83	[WPA2-PSK-CCMP][WPS][ESS]	Drei_H288A_5G_eKy5
+        68:02:b8:41:42:f9	5180	-84	[WPA-PSK-TKIP][WPA2-PSK-CCMP][WPS][ESS]	WLAN18792472
+        34:2c:c4:30:3c:65	5180	-89	[WPA-PSK-TKIP][WPA2-PSK-CCMP][WPS][ESS]	witt
+        fa:0d:ac:d3:40:d4	2467	-80	[WPA2-PSK-CCMP][WPS][ESS][P2P]	DIRECT-d4-HP M28 LaserJet
+        0e:84:dc:14:ac:27	2467	-85	[WPA2-PSK-CCMP][WPS][ESS][P2P]	DIRECT-wo-BRAVIA
+    >
diff --git a/client/docs/source/index.rst b/client/docs/source/index.rst
index b2f4022..840e6d7 100644
--- a/client/docs/source/index.rst
+++ b/client/docs/source/index.rst
@@ -11,8 +11,11 @@ Contents
 *********
 
 .. toctree::
-    :maxdepth: 5
+    :maxdepth: 1
     :glob:
 
+    gettingStarted/index.rst
+    software/installation.rst
+    faq.rst
     other/usage
     lib/index.rst
diff --git a/client/docs/source/lib/classes/Motor.rst b/client/docs/source/lib/classes/Motor.rst
index 8c2339f..d647932 100644
--- a/client/docs/source/lib/classes/Motor.rst
+++ b/client/docs/source/lib/classes/Motor.rst
@@ -12,11 +12,14 @@ Dokumentation der Klasse
 Genauere Informationen
 ======================
 
-Power vs Speed
---------------
-Zur ansteuerung der Motoren kann entweder ``Motor.power(...)`` oder ``Motor.speed(...)`` verwendet werden.
-Der Unterschied der 2 Funktionen liegt dabei in der Einheit des 2. Parameters. Bei ``Motor.power()`` wird dabei ein Wert zwischen -100% und 100% der maximalen Geschwindigkeit angegeben.
-Im Gegensatz dazu erlaubt einem ``Motor.speed()`` eine Geschwindigkeit in Umdrehungen pro Minute.
+Power vs Speed vs PulseWidth
+-----------------------------
+Zur ansteuerung der Motoren kann entweder ``Motor.power(...)``, ``Motor.speed(...)`` oder ``Motor.pulse_width(...)``` verwendet werden.
+Der Unterschied der 3 Funktionen liegt dabei in der Einheit des 2. Parameters.
+
+| Bei ``Motor.power()`` wird dabei ein Wert zwischen -100% und 100% der maximalen Geschwindigkeit angegeben.
+| ``Motor.speed()`` verwendet die Encoder um die Geschwindigkeit der Motoren mittels closed-loop zu steuern. Diese Funktion sollte nur verwendet werden, wenn ``Motor.power()`` nicht zur Ansteuerung ausreicht.
+| ``Motor.pulse_width()`` stellt die Geschwindigkeit des Motors mittels der Pulsbreite der PWM-Steuerung des Motors ein. Diese Funktion ist so nah an der Hardware wie möglich und sollte auch nur verwendet werden, wenn es einen expliziten Grund dafür gibt.
 
 Normal vs Multiple
 ------------------
@@ -28,7 +31,7 @@ Beispiele
 =========
 
 Vorwärts fahren
--------------
+---------------
 
 Mit folgenden Programm drehen sich beide Motoren mit 50% ihrer maximalen Geschwindigkeit.
 Dabei ist zu beachten, dass ein Motor in die entgegengesetzte Richtung zum aneren Motor gedreht werden muss, da diese spiegelverkehrt montiert sind.
diff --git a/client/docs/source/software/installation.rst b/client/docs/source/software/installation.rst
new file mode 100644
index 0000000..fb3b6eb
--- /dev/null
+++ b/client/docs/source/software/installation.rst
@@ -0,0 +1,12 @@
+.. _software_installation:
+
+Installationsanweisungen
+########################
+
+Diese Anleitung dient dazu die Software auf dem Roboter neu aufzusetzen. Im normalen Gebraucht sollte dies jedoch nicht notwendig sein.
+
+Betriebssystem aufsetzen
+========================
+
+Als Basis wird für den Roboter Raspberry Pi OS (64-bit) verwendet. Das 32-Bit Betriebssystem wird nicht unterstützt, da die Software-Komponenten nur für aarch64 bzw. arm64/v8 kompiliert werden.
+Genauere Informationen sind `hier <https://www.raspberrypi.com/software/operating-systems/>`_ zu finden.
\ No newline at end of file
diff --git a/client/lf.py b/client/lf.py
index faacc30..7476dc9 100644
--- a/client/lf.py
+++ b/client/lf.py
@@ -1,109 +1,96 @@
-import time
-
-from compLib.CompLibClient import CompLibClient
-from compLib.IRSensor import IRSensor
 from compLib.Motor import Motor
+from compLib.IRSensor import IRSensor
+from compLib.CompLibClient import CompLibClient
 
-DRIVE_SPEED = 5.0
-COLOR_BREAK = 1500.0
-KP = 2.0
+import time
+import math
+
+DRIVE_SPEED = 20.0
+COLOR_BREAK = 850
+KP = 7.5
 KD = 0.0
 
+SAMPLE_TIME_S = 0.001
+CUTOFF_FREQ_HZ = 50.0
 
-def drive(left_speed, right_speed):
-    print(left_speed, right_speed)
+RC = 1.0 / (2.0 * math.pi * CUTOFF_FREQ_HZ)
 
-    right_speed *= -1.0
+FIRST_COEFF = SAMPLE_TIME_S / (SAMPLE_TIME_S + RC)
+SECOND_COEFF = RC / (SAMPLE_TIME_S + RC)
 
-    Motor.speed(0, right_speed)
-    Motor.speed(3, left_speed)
+out_old = 0.0
+start_time = time.time()
 
 
-def follow(sleep_time=0.1):
-    last_error = 0
-    sensors_black = 0
-    while sensors_black <= 3:
-        sensor_values = IRSensor.read_all()
+def drive(leftSpeed, rightSpeed):
+    rightSpeed *= -0.906
 
-        sensors_black = 0
-        for sensor in sensor_values:
-            if sensor > COLOR_BREAK:
-                sensors_black += 1
+    Motor.multiple_power((0, min(max(-100, rightSpeed), 100)), (3, min(max(-100, leftSpeed), 100)))
 
-        error = last_error
-        if sensor_values[2] > COLOR_BREAK:
+def follow(sleepTime = 0.3):
+    global out_old
+    lastError = 0
+    sensorsBlack = 0
+    while sensorsBlack < 3:
+        sensor_data = IRSensor.read_all()
+
+        sensorsBlack = 0
+        for i in range(0, 5):
+            if sensor_data[i] > COLOR_BREAK:
+                sensorsBlack += 1
+
+
+        middle_sensor = sensor_data[2]
+        filtered_sensor = FIRST_COEFF * middle_sensor + SECOND_COEFF * out_old
+        out_old = filtered_sensor
+
+        sample_time = str(time.time() - start_time).replace(".", ",")
+        print(f"{sample_time} {middle_sensor} {int(filtered_sensor)}")
+
+        error = lastError
+        if sensor_data[2] > COLOR_BREAK:
             error = 0
-        elif sensor_values[0] > COLOR_BREAK:
+        elif sensor_data[0] > COLOR_BREAK:
             error = -1.5
-        elif sensor_values[4] > COLOR_BREAK:
+        elif sensor_data[4] > COLOR_BREAK:
             error = 1.5
-        elif sensor_values[1] > COLOR_BREAK:
+        elif sensor_data[1] > COLOR_BREAK:
             error = -1
-        elif sensor_values[3] > COLOR_BREAK:
+        elif sensor_data[3] > COLOR_BREAK:
             error = 1
         elif error == 1.5:
-            error = 3.5
+            error = 3
         elif error == -1.5:
-            error = -3.5
+            error = -3
 
-        last_error = error
+        lastError = error
 
-        adjustment = KP * error + KD * (error - last_error)
-        left_speed = DRIVE_SPEED + adjustment
-        right_speed = DRIVE_SPEED - adjustment
+        adjustment = KP * error + KD * (error - lastError)
+        leftSpeed = DRIVE_SPEED + adjustment
+        rightSpeed = DRIVE_SPEED - adjustment
 
-        print(sensor_values)
-        print(f"{left_speed} {right_speed} {adjustment} {error}")
-        drive(left_speed, right_speed)
+        # print(f"{leftSpeed} {rightSpeed} {adjustment} {error}")
+        drive(leftSpeed, rightSpeed)
+
+        time.sleep(SAMPLE_TIME_S)
 
     drive(0, 0)
-    time.sleep(sleep_time)
-
-
-def follow_simple():
-    left_speed = DRIVE_SPEED
-    right_speed = DRIVE_SPEED
-    sensor_values = IRSensor.read_all()
-    while True:
-        sensor_values = IRSensor.read_all()
-        # for i in range(len(sensor_values)):
-        #     sensor_values[i] = (sensor_values[i] + new_sensor_values[i]) / 2.0
-
-        print(sensor_values)
-
-        if sensor_values[0] > COLOR_BREAK and sensor_values[4] > COLOR_BREAK:
-            break
-
-        if sensor_values[0] > COLOR_BREAK:
-            left_speed = -DRIVE_SPEED / 2
-            right_speed = DRIVE_SPEED
-        elif sensor_values[4] > COLOR_BREAK:
-            left_speed = DRIVE_SPEED
-            right_speed = -DRIVE_SPEED / 2
-        elif sensor_values[2] > COLOR_BREAK:
-            left_speed = DRIVE_SPEED
-            right_speed = DRIVE_SPEED
-
-        drive(left_speed, right_speed)
-
+    time.sleep(sleepTime)
 
 def main():
     CompLibClient.use_unix_socket()
 
     IRSensor.enable()
-    time.sleep(0.1)
+    time.sleep(0.5)
 
     # while True:
     #     print(IRSensor.read_all())
+    #     time.sleep(0.01)
 
-    # follow_simple()
-    # drive(5, 5)
-    # time.sleep(5)
-    # follow()
-    # follow()
-    # follow()
-    # follow()
-    # follow(0.2)
+    follow()
+    follow()
+    follow()
+    follow()
+    follow(0.2)
 
-
-main()
+main()
\ No newline at end of file
diff --git a/client/motorLinearityTest.py b/client/motorLinearityTest.py
new file mode 100644
index 0000000..6f07477
--- /dev/null
+++ b/client/motorLinearityTest.py
@@ -0,0 +1,34 @@
+from compLib.Motor import Motor
+from compLib.Encoder import Encoder
+from compLib.IRSensor import IRSensor
+from compLib.CompLibClient import CompLibClient
+
+import time
+import math
+
+CompLibClient.use_unix_socket()
+
+sign = 1
+
+for pwr in (18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 35, 40, 45, 50, 60, 70, 80 , 90, 100):
+
+    # Motor.multiple_pulse_width((0, pwr * sign), (3, -pwr * sign))
+    Motor.multiple_power((0, pwr * sign), (3, -pwr * sign))
+
+    start_time = time.time()
+    while time.time() - start_time < 3:
+        Encoder.read_all_velocities()
+        time.sleep(0.01)
+
+    avg = 0.0
+    for i in range(0, 20):
+        vels = Encoder.read_all_velocities()
+        avg += ((abs(vels[0]) + abs(vels[3])) / 2.0)
+        time.sleep(0.01)
+    
+    avg = avg / 10
+
+    vel = str(avg).replace(".", ",")
+    print(f"{pwr} {vel}")
+
+    sign *= -1
\ No newline at end of file