34 files changed, 341 insertions, 0 deletions
diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml
new file mode 100644
index 0000000..105ce2d
--- /dev/null
+++ b/.idea/inspectionProfiles/profiles_settings.xml
@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>
+\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
new file mode 100644
index 0000000..23231ce
--- /dev/null
+++ b/.idea/misc.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.13" project-jdk-type="Python SDK" />
+</project>
+\ No newline at end of file
diff --git a/.idea/modules.xml b/.idea/modules.xml
new file mode 100644
index 0000000..ebc7218
--- /dev/null
+++ b/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/robotica.iml" filepath="$PROJECT_DIR$/.idea/robotica.iml" />
+    </modules>
+  </component>
+</project>
+\ No newline at end of file
diff --git a/.idea/robotica.iml b/.idea/robotica.iml
new file mode 100644
index 0000000..d8b3f6c
--- /dev/null
+++ b/.idea/robotica.iml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="jdk" jdkName="Python 3.13" jdkType="Python SDK" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>
+\ No newline at end of file
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
new file mode 100644
index 0000000..35eb1dd
--- /dev/null
+++ b/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="" vcs="Git" />
+  </component>
+</project>
+\ No newline at end of file
diff --git a/code/debug/.idea/.gitignore b/code/debug/.idea/.gitignore
new file mode 100644
index 0000000..ab1f416
--- /dev/null
+++ b/code/debug/.idea/.gitignore
@@ -0,0 +1,10 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Ignored default folder with query files
+/queries/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
+# Editor-based HTTP Client requests
+/httpRequests/
diff --git a/code/debug/.idea/debug.iml b/code/debug/.idea/debug.iml
new file mode 100644
index 0000000..bc2cd87
--- /dev/null
+++ b/code/debug/.idea/debug.iml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="CPP_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>
+\ No newline at end of file
diff --git a/code/debug/.idea/editor.xml b/code/debug/.idea/editor.xml
new file mode 100644
index 0000000..ca29dcc
--- /dev/null
+++ b/code/debug/.idea/editor.xml
@@ -0,0 +1,101 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="BackendCodeEditorSettings">
+    <option name="/Default/CodeStyle/CodeFormatting/CppClangFormat/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_ARGUMENT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_BINARY_EXPRESSIONS_CHAIN/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_CALLS_CHAIN/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXPRESSION/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXTENDS_LIST/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_FOR_STMT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_PARAMETER/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_ARGUMENT/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_PARAMETER/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTIPLE_DECLARATION/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_TERNARY/@EntryValue" value="ALIGN_ALL" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ANONYMOUS_METHOD_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_CLASS_DEFINITION/@EntryValue" value="1" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_DECLARATIONS/@EntryValue" value="0" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DECLARATION/@EntryValue" value="1" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DEFINITION/@EntryValue" value="1" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BREAK_TEMPLATE_DECLARATION/@EntryValue" value="LINE_BREAK" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CASE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CONTINUOUS_LINE_INDENT/@EntryValue" value="Double" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_ACCESS_SPECIFIERS_FROM_CLASS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CASE_FROM_SWITCH/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CLASS_MEMBERS_FROM_ACCESS_SPECIFIERS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_COMMENT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_SIZE/@EntryValue" value="4" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_STYLE/@EntryValue" value="Space" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INITIALIZER_BRACES/@EntryValue" value="END_OF_LINE_NO_SPACE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INT_ALIGN_EQ/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INVOCABLE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_CODE/@EntryValue" value="2" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_DECLARATIONS/@EntryValue" value="2" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_USER_LINEBREAKS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/LINE_BREAK_AFTER_COLON_IN_MEMBER_INITIALIZER_LISTS/@EntryValue" value="ON_SINGLE_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/MEMBER_INITIALIZER_LIST_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_INDENTATION/@EntryValue" value="All" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/OTHER_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_CATCH_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_ELSE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_NAMESPACE_DEFINITIONS_ON_SAME_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_WHILE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SIMPLE_BLOCK_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_PARAMS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_COLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_SEMICOLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_METHOD/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_NESTED_DECLARATOR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_METHOD/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_UNARY_OPERATOR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_COLON/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_SEMICOLON/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_METHOD/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_METHOD/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BETWEEN_CLOSING_ANGLE_BRACKETS_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_ARRAY_ACCESS_BRACKETS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_DECLARATION_PARENTHESES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_BLOCKS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_METHOD_PARENTHESES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPECIAL_ELSE_IF_TREATMENT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TAB_WIDTH/@EntryValue" value="4" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TYPE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_BINARY_OPSIGN/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_ARGUMENTS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_RPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_RPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_TERNARY_OPSIGNS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_PARAMETERS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
+    <option name="/Default/CodeStyle/EditorConfig/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
+  </component>
+</project>
+\ No newline at end of file
diff --git a/code/debug/.idea/modules.xml b/code/debug/.idea/modules.xml
new file mode 100644
index 0000000..c1c5b3f
--- /dev/null
+++ b/code/debug/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/debug.iml" filepath="$PROJECT_DIR$/.idea/debug.iml" />
+    </modules>
+  </component>
+</project>
+\ No newline at end of file
diff --git a/code/debug/.idea/vcs.xml b/code/debug/.idea/vcs.xml
new file mode 100644
index 0000000..b2bdec2
--- /dev/null
+++ b/code/debug/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/../.." vcs="Git" />
+  </component>
+</project>
+\ No newline at end of file
diff --git a/code/debug/IR/IR-ONLY/IR-ONLY.ino b/code/debug/IR/IR-ONLY/IR-ONLY.ino
new file mode 100644
index 0000000..31fb80b
--- /dev/null
+++ b/code/debug/IR/IR-ONLY/IR-ONLY.ino
@@ -0,0 +1,72 @@
+//set pins
+
+int ir1 = 0;
+int ir2 = 1;
+int ir3 = 9;
+int ir4 = 2;
+int ir5 = 3;
+int ir6 = 4;
+int ir7 = 5;
+int ir8 = 8;
+
+//arrays cus typing a lot is hard even with auto complete
+int pins[8] = {ir1, ir2, ir3, ir4, ir5, ir6, ir7, ir8};
+volatile unsigned long startTime[8];
+volatile unsigned long pulseWidth[8];
+
+void ISR0();
+void ISR1();
+void ISR2();
+void ISR3();
+void ISR4();
+void ISR5();
+void ISR6();
+void ISR7();
+
+void setup() {
+  Serial.begin(9600);
+
+  //pins setup
+  for (int i = 0; i < 8; i++) {
+    pinMode(pins[i], INPUT);
+  }
+  //attach interpts
+  attachInterrupt(digitalPinToInterrupt(ir1), ISR0, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir2), ISR1, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir3), ISR2, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir4), ISR3, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir5), ISR4, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir6), ISR5, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir7), ISR6, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir8), ISR7, CHANGE);
+}
+
+void loop() {
+  noInterrupts();
+  for (int i = 0; i < 8; i++) {
+    Serial.print("ir"); Serial.print(i + 1);
+    Serial.print(": "); Serial.print(pulseWidth[i]); Serial.print("  ");
+  }
+  Serial.println();
+  interrupts();
+  delay(200);
+}
+
+//calc pulsewidth
+void handlePWM(int idx) {
+  if (digitalRead(pins[idx]) == HIGH) {
+    startTime[idx] = micros();
+  } else {
+    pulseWidth[idx] = micros() - startTime[idx];
+  }
+}
+
+//interupts
+void ISR0() { handlePWM(0); }
+void ISR1() { handlePWM(1); }
+void ISR2() { handlePWM(2); }
+void ISR3() { handlePWM(3); }
+void ISR4() { handlePWM(4); }
+void ISR5() { handlePWM(5); }
+void ISR6() { handlePWM(6); }
+void ISR7() { handlePWM(7); }
diff --git a/code/debug/IR/XIAO/XIAO.ino b/code/debug/IR/XIAO/XIAO.ino
new file mode 100644
index 0000000..67d27c4
--- /dev/null
+++ b/code/debug/IR/XIAO/XIAO.ino
@@ -0,0 +1,74 @@
+
+//set pins
+int ir1 = 0;
+int ir2 = 1;
+int ir3 = 9;
+int ir4 = 2;
+int ir5 = 3;
+int ir6 = 4;
+int ir7 = 5;
+int ir8 = 8;
+
+//arrays cus typing a lot is hard even with auto complete
+int pins[8] = {ir1, ir2, ir3, ir4, ir5, ir6, ir7, ir8};
+volatile unsigned long startTime[8];
+volatile unsigned long pulseWidth[8];
+
+void ISR0();
+void ISR1();
+void ISR2();
+void ISR3();
+void ISR4();
+void ISR5();
+void ISR6();
+void ISR7();
+
+void setup() {
+  Serial.begin(9600);
+  Serial1.begin(75);
+
+  //pins setup
+  for (int i = 0; i < 8; i++) {
+    pinMode(pins[i], INPUT);
+  }
+  //attach interpts
+  attachInterrupt(digitalPinToInterrupt(ir1), ISR0, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir2), ISR1, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir3), ISR2, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir4), ISR3, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir5), ISR4, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir6), ISR5, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir7), ISR6, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir8), ISR7, CHANGE);
+}
+
+void loop() {
+  noInterrupts();
+  //for (int i = 0; i < 8; i++) {
+  //  Serial.print("ir"); Serial.print(i + 1);
+  //  Serial.print(": "); Serial.print(pulseWidth[i]); Serial.print("  ");
+  //}
+  //Serial.println();
+  Serial1.println(pulseWidth[8]);
+  interrupts();
+  delay(200);
+}
+
+//calc pulsewidth
+void handlePWM(int idx) {
+  if (digitalRead(pins[idx]) == HIGH) {
+    startTime[idx] = micros();
+  } else {
+    pulseWidth[idx] = micros() - startTime[idx];
+  }
+}
+
+//interupts
+void ISR0() { handlePWM(0); }
+void ISR1() { handlePWM(1); }
+void ISR2() { handlePWM(2); }
+void ISR3() { handlePWM(3); }
+void ISR4() { handlePWM(4); }
+void ISR5() { handlePWM(5); }
+void ISR6() { handlePWM(6); }
+void ISR7() { handlePWM(7); }
diff --git a/code/debug/communication&IR/tx/tx-IR/cheapRCJ05sensors-RobotDemos09.pdf b/code/debug/IR/cheapRCJ05sensors-RobotDemos09.pdf
index 3eed27d..3eed27d 100644
--- a/code/debug/communication&IR/tx/tx-IR/cheapRCJ05sensors-RobotDemos09.pdf
+++ b/code/debug/IR/cheapRCJ05sensors-RobotDemos09.pdf
diff --git a/code/debug/IR/teensy-read/teensy-read.ino b/code/debug/IR/teensy-read/teensy-read.ino
new file mode 100644
index 0000000..6ce767b
--- /dev/null
+++ b/code/debug/IR/teensy-read/teensy-read.ino
@@ -0,0 +1,30 @@
+int incomingByte = 0; // for incoming serial data
+
+void setup() {
+  Serial.begin(9600);
+  Serial1.begin(75);
+  Serial2.begin(75);
+
+}
+
+//  _________________________________________
+// / fucking mixes the signal and prints but \
+// | dont know recieve format yet so keeping |
+// \ it here                                 /
+//  -----------------------------------------
+//      \   ^__^
+//       \  (oo)\_______
+//          (__)\       )\/\
+//               ||----w |
+//               ||     ||
+
+void loop() {
+  if (Serial1.available() > 0) {
+    incomingByte = Serial.read();
+    Serial.println(incomingByte, DEC);
+  }
+  if (Serial2.available() > 0) {
+    incomingByte = Serial.read();
+    Serial.println(incomingByte, DEC);
+  }
+}
+\ No newline at end of file
diff --git a/code/debug/communication&IR/rx/rx_decode_teensy/include/README b/code/debug/communication/rx/rx_decode_teensy/include/README
index 49819c0..49819c0 100644
--- a/code/debug/communication&IR/rx/rx_decode_teensy/include/README
+++ b/code/debug/communication/rx/rx_decode_teensy/include/README
diff --git a/code/debug/communication&IR/rx/rx_decode_teensy/lib/README b/code/debug/communication/rx/rx_decode_teensy/lib/README
index 9379397..9379397 100644
--- a/code/debug/communication&IR/rx/rx_decode_teensy/lib/README
+++ b/code/debug/communication/rx/rx_decode_teensy/lib/README
diff --git a/code/debug/communication&IR/rx/rx_decode_teensy/platformio.ini b/code/debug/communication/rx/rx_decode_teensy/platformio.ini
index a13d034..a13d034 100644
--- a/code/debug/communication&IR/rx/rx_decode_teensy/platformio.ini
+++ b/code/debug/communication/rx/rx_decode_teensy/platformio.ini
diff --git a/code/debug/communication&IR/rx/rx_decode_teensy/src/main.cpp b/code/debug/communication/rx/rx_decode_teensy/src/main.cpp
index f91d6d3..f91d6d3 100644
--- a/code/debug/communication&IR/rx/rx_decode_teensy/src/main.cpp
+++ b/code/debug/communication/rx/rx_decode_teensy/src/main.cpp
diff --git a/code/debug/communication&IR/rx/rx_decode_teensy/test/README b/code/debug/communication/rx/rx_decode_teensy/test/README
index 9b1e87b..9b1e87b 100644
--- a/code/debug/communication&IR/rx/rx_decode_teensy/test/README
+++ b/code/debug/communication/rx/rx_decode_teensy/test/README
diff --git a/code/debug/communication&IR/rx/rx_teensy/include/README b/code/debug/communication/rx/rx_teensy/include/README
index 49819c0..49819c0 100644
--- a/code/debug/communication&IR/rx/rx_teensy/include/README
+++ b/code/debug/communication/rx/rx_teensy/include/README
diff --git a/code/debug/communication&IR/rx/rx_teensy/lib/README b/code/debug/communication/rx/rx_teensy/lib/README
index 9379397..9379397 100644
--- a/code/debug/communication&IR/rx/rx_teensy/lib/README
+++ b/code/debug/communication/rx/rx_teensy/lib/README
diff --git a/code/debug/communication&IR/rx/rx_teensy/platformio.ini b/code/debug/communication/rx/rx_teensy/platformio.ini
index a13d034..a13d034 100644
--- a/code/debug/communication&IR/rx/rx_teensy/platformio.ini
+++ b/code/debug/communication/rx/rx_teensy/platformio.ini
diff --git a/code/debug/communication&IR/rx/rx_teensy/src/main.cpp b/code/debug/communication/rx/rx_teensy/src/main.cpp
index f3e9e79..f3e9e79 100644
--- a/code/debug/communication&IR/rx/rx_teensy/src/main.cpp
+++ b/code/debug/communication/rx/rx_teensy/src/main.cpp
diff --git a/code/debug/communication&IR/rx/rx_teensy/test/README b/code/debug/communication/rx/rx_teensy/test/README
index 9b1e87b..9b1e87b 100644
--- a/code/debug/communication&IR/rx/rx_teensy/test/README
+++ b/code/debug/communication/rx/rx_teensy/test/README
diff --git a/code/debug/communication&IR/tx/tx-IR/include/README b/code/debug/communication/tx/tx-IR/include/README
index 49819c0..49819c0 100644
--- a/code/debug/communication&IR/tx/tx-IR/include/README
+++ b/code/debug/communication/tx/tx-IR/include/README
diff --git a/code/debug/communication&IR/tx/tx-IR/lib/README b/code/debug/communication/tx/tx-IR/lib/README
index 9379397..9379397 100644
--- a/code/debug/communication&IR/tx/tx-IR/lib/README
+++ b/code/debug/communication/tx/tx-IR/lib/README
diff --git a/code/debug/communication&IR/tx/tx-IR/platformio.ini b/code/debug/communication/tx/tx-IR/platformio.ini
index 87a4592..87a4592 100644
--- a/code/debug/communication&IR/tx/tx-IR/platformio.ini
+++ b/code/debug/communication/tx/tx-IR/platformio.ini
diff --git a/code/debug/communication&IR/tx/tx-IR/src/main.cpp b/code/debug/communication/tx/tx-IR/src/main.cpp
index 43d396f..43d396f 100644
--- a/code/debug/communication&IR/tx/tx-IR/src/main.cpp
+++ b/code/debug/communication/tx/tx-IR/src/main.cpp
diff --git a/code/debug/communication&IR/tx/tx-IR/test/README b/code/debug/communication/tx/tx-IR/test/README
index 9b1e87b..9b1e87b 100644
--- a/code/debug/communication&IR/tx/tx-IR/test/README
+++ b/code/debug/communication/tx/tx-IR/test/README
diff --git a/code/debug/communication&IR/tx/tx_rand_XIAO/include/README b/code/debug/communication/tx/tx_rand_XIAO/include/README
index 49819c0..49819c0 100644
--- a/code/debug/communication&IR/tx/tx_rand_XIAO/include/README
+++ b/code/debug/communication/tx/tx_rand_XIAO/include/README
diff --git a/code/debug/communication&IR/tx/tx_rand_XIAO/lib/README b/code/debug/communication/tx/tx_rand_XIAO/lib/README
index 9379397..9379397 100644
--- a/code/debug/communication&IR/tx/tx_rand_XIAO/lib/README
+++ b/code/debug/communication/tx/tx_rand_XIAO/lib/README
diff --git a/code/debug/communication&IR/tx/tx_rand_XIAO/platformio.ini b/code/debug/communication/tx/tx_rand_XIAO/platformio.ini
index 87a4592..87a4592 100644
--- a/code/debug/communication&IR/tx/tx_rand_XIAO/platformio.ini
+++ b/code/debug/communication/tx/tx_rand_XIAO/platformio.ini
diff --git a/code/debug/communication&IR/tx/tx_rand_XIAO/src/main.cpp b/code/debug/communication/tx/tx_rand_XIAO/src/main.cpp
index d164e3d..d164e3d 100644
--- a/code/debug/communication&IR/tx/tx_rand_XIAO/src/main.cpp
+++ b/code/debug/communication/tx/tx_rand_XIAO/src/main.cpp
diff --git a/code/debug/communication&IR/tx/tx_rand_XIAO/test/README b/code/debug/communication/tx/tx_rand_XIAO/test/README
index 9b1e87b..9b1e87b 100644
--- a/code/debug/communication&IR/tx/tx_rand_XIAO/test/README
+++ b/code/debug/communication/tx/tx_rand_XIAO/test/README