diff --git a/Rotabator.ino b/Rotabator.ino
index c940eb1..d49722a 100644
--- a/Rotabator.ino
+++ b/Rotabator.ino
@@ -1,77 +1,96 @@
- /*
- * Library: https://github.com/bolderflight/MPU9250
-Basic_I2C.ino
-Brian R Taylor
-brian.taylor@bolderflight.com
-
-Copyright (c) 2017 Bolder Flight Systems
-
-Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
-and associated documentation files (the "Software"), to deal in the Software without restriction, 
-including without limitation the rights to use, copy, modify, merge, publish, distribute, 
-sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all copies or 
-substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 
-BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 
-NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
-DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-*/
-/*
- * Updated by Ahmad Shamshiri on July 09, 2018 for Robojax.com
- * in Ajax, Ontario, Canada
- * watch instrucion video for this code: 
-For this sketch you need to connect:
-VCC to 5V and GND to GND of Arduino
-SDA to A4 and SCL to A5
-
-S20A is 3.3V voltage regulator MIC5205-3.3BM5
-*/
-
+#if defined(ESP8266)
+#include <ESP8266WiFi.h>
 #include "MPU9250.h"
+#else
+#include <WiFi.h>
+#endif
+#include <WiFiUdp.h>
+#include <OSCMessage.h>
 
-float biai = 1.25;
-unsigned long previousTime;
-int interval = 300;
-int stepPin = 14;
-int dirPin = 12;
-bool pinState = LOW;
-// an MPU9250 object with the MPU-9250 sensor on I2C bus 0 with address 0x68
-MPU9250 IMU(Wire,0x68);
-int status;
+char ssid[] = "cohabit";          // your network SSID (name)
+char pass[] = "lewifidecohabit";  // your network password
+
+int update_rate = 1000000;
+
+
+WiFiUDP Udp;
+// A UDP instance to let us send and receive packets over UDP
+const IPAddress outIp(192, 168, 0, 210);  // remote IP of your computer
+const unsigned int outPort = 16403;        // remote port to receive OSC
+const unsigned int localPort = 16384;      // local port to listen for OSC packets (actually not used for sending)
 
 void setup() {
-  // serial to display data
   Serial.begin(115200);
-  while(!Serial) {}
 
-  // start communication with IMU 
-  status = IMU.begin();
-  if (status < 0) {
-    Serial.println("IMU initialization unsuccessful");
-    Serial.println("Check IMU wiring or try cycling power");
-    Serial.print("Status: ");
-    Serial.println(status);
-    while(1) {}
+  // Connect to WiFi network
+  Serial.println();
+  Serial.println();
+  Serial.print("Connecting to ");
+  Serial.println(ssid);
+  WiFi.begin(ssid, pass);
+
+  while (WiFi.status() != WL_CONNECTED) {
+    delay(500);
+    Serial.print(".");
+  }
+  Serial.println("");
+
+  Serial.println("WiFi connected");
+  Serial.println("IP address: ");
+  Serial.println(WiFi.localIP());
+
+  Serial.println("Starting UDP");
+  Udp.begin(localPort);
+  Serial.print("Local port: ");
+#ifdef ESP32
+  Serial.println(localPort);
+#else
+  Serial.println(Udp.localPort());
+#endif
+}
+void ledtoggle(OSCMessage &msg) {
+  switch (msg.getInt(0)) {
+    case 0:
+      digitalWrite(LED_BUILTIN, LOW);
+      break;
+    case 1:
+      digitalWrite(LED_BUILTIN, HIGH);
+      break;
+  }
+}
+
+void receiveMessage() {
+  OSCMessage inmsg;
+  int size = Udp.parsePacket();
+
+  if (size > 0) {
+    while (size--) {
+      inmsg.fill(Udp.read());
+    }
+    if (!inmsg.hasError()) {
+      inmsg.dispatch("/led", ledtoggle);
+    }
+    //else { auto error = inmsg.getError(); }
   }
-  pinMode(stepPin,OUTPUT);
-  pinMode(dirPin,OUTPUT);
 }
 
 void loop() {
-  // read the sensor
-  digitalWrite(dirPin,HIGH);
-  IMU.readSensor();
-  // display the data
+  receiveMessage();
+  OSCMessage msg("/step");
+  msg.add(1);
+  Udp.beginPacket(outIp, outPort);
+  msg.send(Udp);
+  Udp.endPacket();
+  msg.empty();
+  delayMicroseconds(update_rate);
+  OSCMessage msg2("/Step");
+  msg2.add(0);
+  Udp.beginPacket(outIp, outPort);
+  msg2.send(Udp);
+  Udp.endPacket();
+  msg2.empty();
+  delayMicroseconds(update_rate);
+  
 
-  if((micros() - previousTime) >= interval){
-    previousTime = micros();
-    pinState = !pinState;
-    digitalWrite(stepPin,pinState);
-    Serial.println(IMU.getAccelX_mss() + IMU.getAccelY_mss() + IMU.getAccelZ_mss() + biai +11);
-  }
-} 
\ No newline at end of file
+  
+}
\ No newline at end of file