diff --git a/frtos/CMakeLists.txt b/frtos/CMakeLists.txt
index d972636..3a6c4f4 100644
--- a/frtos/CMakeLists.txt
+++ b/frtos/CMakeLists.txt
@@ -1,4 +1,29 @@
 include(FreeRTOS_Kernel_import.cmake)
 
-add_subdirectory(car)
+add_subdirectory(wheel)
 add_subdirectory(line_sensor)
+
+add_executable(rtos_car rtos_car.c)
+
+target_compile_definitions(rtos_car PRIVATE
+        WIFI_SSID=\"${WIFI_SSID}\"
+        WIFI_PASSWORD=\"${WIFI_PASSWORD}\"
+        NO_SYS=0            # don't want NO_SYS (generally this would be in your lwipopts.h)
+        LWIP_SOCKET=1       # we need the socket API (generally this would be in your lwipopts.h)
+        PING_USE_SOCKETS=1
+)
+target_include_directories(rtos_car PRIVATE
+        ${CMAKE_CURRENT_LIST_DIR}
+        ${CMAKE_CURRENT_LIST_DIR}/wheel
+        ${CMAKE_CURRENT_LIST_DIR}/line_sensor
+)
+target_link_libraries(rtos_car
+        pico_cyw43_arch_lwip_sys_freertos
+        pico_stdlib
+        pico_lwip_iperf
+        FreeRTOS-Kernel-Heap4 # FreeRTOS kernel and dynamic heap
+        hardware_adc
+        hardware_pwm
+)
+pico_enable_stdio_usb(rtos_car 1)
+pico_add_extra_outputs(rtos_car)
diff --git a/frtos/car/FreeRTOSConfig.h b/frtos/FreeRTOSConfig.h
similarity index 100%
rename from frtos/car/FreeRTOSConfig.h
rename to frtos/FreeRTOSConfig.h
diff --git a/frtos/car/CMakeLists.txt b/frtos/car/CMakeLists.txt
deleted file mode 100644
index ca9cfb1..0000000
--- a/frtos/car/CMakeLists.txt
+++ /dev/null
@@ -1,24 +0,0 @@
-add_executable(rtos_car
-        rtos_car.c
-)
-target_compile_definitions(rtos_car PRIVATE
-        WIFI_SSID=\"${WIFI_SSID}\"
-        WIFI_PASSWORD=\"${WIFI_PASSWORD}\"
-        NO_SYS=0            # don't want NO_SYS (generally this would be in your lwipopts.h)
-        LWIP_SOCKET=1       # we need the socket API (generally this would be in your lwipopts.h)
-        PING_USE_SOCKETS=1
-)
-target_include_directories(rtos_car PRIVATE
-        ${CMAKE_CURRENT_LIST_DIR}
-        ${CMAKE_CURRENT_LIST_DIR}/../.. # for our common lwipopts
-)
-target_link_libraries(rtos_car
-        pico_cyw43_arch_lwip_sys_freertos
-        pico_stdlib
-        pico_lwip_iperf
-        FreeRTOS-Kernel-Heap4 # FreeRTOS kernel and dynamic heap
-        hardware_adc
-        hardware_pwm
-)
-pico_enable_stdio_usb(rtos_car 1)
-pico_add_extra_outputs(rtos_car)
diff --git a/frtos/line_sensor/line_sensor.c b/frtos/line_sensor/line_sensor.c
index 53dbcfd..7c054d0 100644
--- a/frtos/line_sensor/line_sensor.c
+++ b/frtos/line_sensor/line_sensor.c
@@ -68,9 +68,9 @@ line_sensor_setup() {
 }
 
 /**
- * @brief Initialize the car's initial state
+ * @brief Initialize the wheel's initial state
  *
- * @return The initialized car state
+ * @return The initialized wheel state
  */
 car_state_t
 initialize_car_state() {
@@ -86,9 +86,9 @@ initialize_car_state() {
 }
 
 /**
- * @brief Update the map based on the car's state
+ * @brief Update the map based on the wheel's state
  *
- * @param car_state The current car state
+ * @param car_state The current wheel state
  */
 static inline void
 update_map(car_state_t car_state) {
@@ -99,14 +99,14 @@ update_map(car_state_t car_state) {
 }
 
 /**
- * @brief Handle forward movement of the car
+ * @brief Handle forward movement of the wheel
  *
- * @param car_state The current car state
+ * @param car_state The current wheel state
  */
 static void
 handle_forward_movement(car_state_t *car_state) {
     printf("FORWARD, ");
-    // TODO: Check car's actual forward movement
+    // TODO: Check wheel's actual forward movement
     switch (car_state->orientation) {
         case NORTH:
             printf("NORTH\n");
@@ -128,11 +128,11 @@ handle_forward_movement(car_state_t *car_state) {
 }
 
 /**
- * @brief Handle a right turn of the car
+ * @brief Handle a right turn of the wheel
  *
  * Note: Bitwise AND with 0x03 to ensure that the orientation
  * is always between 0 and 3
- * @param car_state The current car state
+ * @param car_state The current wheel state
  */
 static inline void
 handle_right_turn(car_state_t *car_state) {
@@ -140,9 +140,9 @@ handle_right_turn(car_state_t *car_state) {
 }
 
 /**
- * @brief Handle a left turn of the car
+ * @brief Handle a left turn of the wheel
  *
- * @param car_state The current car state
+ * @param car_state The current wheel state
  */
 static inline void
 handle_left_turn(car_state_t *car_state) {
diff --git a/frtos/car/lwipopts.h b/frtos/lwipopts.h
similarity index 93%
rename from frtos/car/lwipopts.h
rename to frtos/lwipopts.h
index 09cb7af..051c08a 100644
--- a/frtos/car/lwipopts.h
+++ b/frtos/lwipopts.h
@@ -5,7 +5,7 @@
 // (see https://www.nongnu.org/lwip/2_1_x/group__lwip__opts.html)
 //
 // This example uses a common include to avoid repetition
-#include "../lwipopts_examples_common.h"
+#include "lwipopts_examples_common.h"
 
 #if !NO_SYS
 #define TCPIP_THREAD_STACKSIZE 1024
diff --git a/frtos/car/rtos_car.c b/frtos/rtos_car.c
similarity index 98%
rename from frtos/car/rtos_car.c
rename to frtos/rtos_car.c
index b3d4474..d41ffc4 100644
--- a/frtos/car/rtos_car.c
+++ b/frtos/rtos_car.c
@@ -18,6 +18,7 @@
 #include "semphr.h"
 
 #include "wheel.h"
+#include "line_sensor.h"
 
 #define READ_LEFT_WHEEL_SPEED_PRIO (tskIDLE_PRIORITY + 1UL)
 #define READ_RIGHT_WHEEL_SPEED_PRIO (tskIDLE_PRIORITY + 1UL)
@@ -25,6 +26,9 @@
 void
 launch()
 {
+
+
+
     // isr to detect right wheel slot
     gpio_set_irq_enabled(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL, true);
     gpio_add_raw_irq_handler(SPEED_PIN_RIGHT,
diff --git a/frtos/wheel/CMakeLists.txt b/frtos/wheel/CMakeLists.txt
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/frtos/wheel/CMakeLists.txt
@@ -0,0 +1 @@
+
diff --git a/frtos/car/wheel.h b/frtos/wheel/wheel.h
similarity index 100%
rename from frtos/car/wheel.h
rename to frtos/wheel/wheel.h