diff --git a/frtos/CMakeLists.txt b/frtos/CMakeLists.txt
index 28447a9..2fdf6fc 100644
--- a/frtos/CMakeLists.txt
+++ b/frtos/CMakeLists.txt
@@ -6,6 +6,7 @@ add_subdirectory(car)
 add_subdirectory(ultrasonic_sensor)
 add_subdirectory(magnetometer)
 add_subdirectory(frontend)
+add_subdirectory(barcode_sensor)
 
 add_executable(rtos_car rtos_car.c)
 
@@ -24,6 +25,7 @@ target_include_directories(rtos_car PRIVATE
         ${CMAKE_CURRENT_LIST_DIR}/ultrasonic_sensor
         ${CMAKE_CURRENT_LIST_DIR}/frontend
         ${CMAKE_CURRENT_LIST_DIR}/magnetometer
+        ${CMAKE_CURRENT_LIST_DIR}/barcode_sensor
 )
 target_link_libraries(rtos_car
         pico_cyw43_arch_lwip_sys_freertos
diff --git a/frtos/barcode_sensor/barcode_sensor_init.h b/frtos/barcode_sensor/barcode_sensor_init.h
index e33041e..4e75d6e 100644
--- a/frtos/barcode_sensor/barcode_sensor_init.h
+++ b/frtos/barcode_sensor/barcode_sensor_init.h
@@ -13,7 +13,7 @@
 #include "message_buffer.h"
 #include "semphr.h"
 
-#include "barcode_sensor_config.h"
+#include "line_sensor_config.h"
 #include "line_sensor_init.h"
 
 // Set barcode time to 0
diff --git a/frtos/config/line_sensor_config.h b/frtos/config/line_sensor_config.h
index 007cc77..1db87da 100644
--- a/frtos/config/line_sensor_config.h
+++ b/frtos/config/line_sensor_config.h
@@ -8,4 +8,6 @@
 #define LEFT_SENSOR_PIN                         ( 26 )
 #define RIGHT_SENSOR_PIN                        ( 27 )
 
+#define BARCODE_SENSOR_PIN                      ( 22 )
+
 #endif //CONFIG_H
diff --git a/frtos/config/motor_config.h b/frtos/config/motor_config.h
index 4808885..655478c 100644
--- a/frtos/config/motor_config.h
+++ b/frtos/config/motor_config.h
@@ -9,11 +9,11 @@
 #define SLICE_NUM     0U
 
 // IN1, IN2, IN3, IN4 on the L298N
-#define DIRECTION_PIN_RIGHT_IN1 11U
-#define DIRECTION_PIN_RIGHT_IN2 12U
+#define DIRECTION_PIN_RIGHT_IN1 7U //11
+#define DIRECTION_PIN_RIGHT_IN2 6U //12
 
-#define DIRECTION_PIN_LEFT_IN3 19U
-#define DIRECTION_PIN_LEFT_IN4 20U
+#define DIRECTION_PIN_LEFT_IN3 3U //19
+#define DIRECTION_PIN_LEFT_IN4 2U //20
 
 // to turn one side
 #define DIRECTION_RIGHT_FORWARD  (1U << DIRECTION_PIN_RIGHT_IN2)
@@ -102,23 +102,8 @@ typedef struct
 
 } motor_t;
 
-typedef struct
-{
-    float         starting_distance_cm;
-    float         distance_to_travel_cm;
-    volatile bool is_running;
-} distance_to_stop_t;
-
 SemaphoreHandle_t g_left_sem;
 SemaphoreHandle_t g_right_sem;
 
-// for testing
-// typedef struct
-//{
-//    motor_t     * p_left_motor;
-//    motor_t     * p_right_motor;
-//    motor_pid_t * p_pid;
-//
-//} car_struct_t;
 
 #endif /* MOTOR_CONFIG_H */
\ No newline at end of file
diff --git a/frtos/frontend/htmldata.c b/frtos/frontend/htmldata.c
index 8faf14a..b976c68 100644
--- a/frtos/frontend/htmldata.c
+++ b/frtos/frontend/htmldata.c
@@ -12,371 +12,358 @@ static const unsigned char data_index_shtml[] = {
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+	0x0A, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x2F, 
+	0x2F, 0x20, 0x55, 0x70, 0x64, 0x61, 0x74, 0x65, 0x20, 0x74, 
+	0x68, 0x65, 0x20, 0x65, 0x6C, 0x61, 0x70, 0x73, 0x65, 0x64, 
+	0x20, 0x74, 0x69, 0x6D, 0x65, 0x20, 0x65, 0x76, 0x65, 0x72, 
+	0x79, 0x20, 0x73, 0x65, 0x63, 0x6F, 0x6E, 0x64, 0x0A, 0x20, 
+	0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x73, 0x65, 0x74, 
+	0x49, 0x6E, 0x74, 0x65, 0x72, 0x76, 0x61, 0x6C, 0x28, 0x75, 
+	0x70, 0x64, 0x61, 0x74, 0x65, 0x45, 0x6C, 0x61, 0x70, 0x73, 
+	0x65, 0x64, 0x54, 0x69, 0x6D, 0x65, 0x2C, 0x20, 0x31, 0x30, 
+	0x30, 0x30, 0x29, 0x3B, 0x0A, 0x20, 0x20, 0x20, 0x20, 0x20, 
+	0x20, 0x20, 0x20, 0x3C, 0x2F, 0x73, 0x63, 0x72, 0x69, 0x70, 
+	0x74, 0x3E, 0x0A, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 
+	0x20, 0x3C, 0x2F, 0x62, 0x6F, 0x64, 0x79, 0x3E, 0x0A, 0x3C, 
+	0x2F, 0x68, 0x74, 0x6D, 0x6C, 0x3E, 0x0A, };
 
 const struct fsdata_file file_index_shtml[] = {{ NULL, data_index_shtml, data_index_shtml + 13, sizeof(data_index_shtml) - 13, FS_FILE_FLAGS_HEADER_INCLUDED | FS_FILE_FLAGS_HEADER_PERSISTENT }};
 
diff --git a/frtos/frontend/makefsdata.exe b/frtos/frontend/makefsdata.exe
old mode 100644
new mode 100755
index 30f333c..181e03b
Binary files a/frtos/frontend/makefsdata.exe and b/frtos/frontend/makefsdata.exe differ
diff --git a/frtos/motor/motor_speed.h b/frtos/motor/motor_speed.h
index 40b69af..fc64e8c 100644
--- a/frtos/motor/motor_speed.h
+++ b/frtos/motor/motor_speed.h
@@ -75,6 +75,28 @@ monitor_wheel_speed_task(void *ppp_motor)
     }
 }
 
+void
+motor_monitoring(motor_t *p_motor, uint64_t *curr_time, uint64_t *prev_time,
+                 uint64_t *elapsed_time)
+{
+    if ((xSemaphoreTake(*p_motor->p_sem, pdMS_TO_TICKS(100))
+         == pdTRUE) && (*p_motor->use_pid == true))
+    {
+        *curr_time    = time_us_64();
+        *elapsed_time = *curr_time - *prev_time;
+        *prev_time    = *curr_time;
+
+        p_motor->speed.current_cms
+            = (float) (SLOT_DISTANCE_CM_MODIFIED / *elapsed_time);
+
+        p_motor->speed.distance_cm += SLOT_DISTANCE_CM;
+    }
+    else
+    {
+        p_motor->speed.current_cms = 0.f;
+    }
+}
+
 /*!
  * @brief Set the speed of the wheels
  * @param pwm_level The pwm_level of the wheels, from 0 to 99
@@ -102,7 +124,7 @@ set_wheel_speed(uint32_t pwm_level, motor_t *p_motor)
 void
 set_wheel_speed_synced(uint32_t pwm_level, car_struct_t *pp_car_strut)
 {
-    set_wheel_speed(MAX_PWM_LEVEL, pp_car_strut->p_left_motor);
+    set_wheel_speed(pwm_level, pp_car_strut->p_left_motor);
     set_wheel_speed(pwm_level, pp_car_strut->p_right_motor);
 }
 
diff --git a/frtos/motor/motor_test.c b/frtos/motor/motor_test.c
index 04e4e8f..774568a 100644
--- a/frtos/motor/motor_test.c
+++ b/frtos/motor/motor_test.c
@@ -5,9 +5,12 @@ void
 motor_control_task(void *params)
 {
     car_struct_t *car_struct = (car_struct_t *)params;
+    set_wheel_direction(DIRECTION_FORWARD);
+    set_wheel_speed_synced(90u, car_struct);
+    car_struct->p_pid->use_pid= false;
     for (;;)
     {
-        turn_by_10_degree(RIGHT, 90u, car_struct);
+        // turn_by_10_degree(RIGHT, 90u, car_struct);
         vTaskDelay(pdMS_TO_TICKS(1000));
     }
 }
diff --git a/frtos/rtos_car.c b/frtos/rtos_car.c
index fd8a0ab..58ebeee 100644
--- a/frtos/rtos_car.c
+++ b/frtos/rtos_car.c
@@ -4,116 +4,20 @@
 #include "car_config.h"
 #include "motor_init.h"
 
+
 /*!
- * @brief Check if the car is on the line
- * @param params
- * @return
+ * @brief Interrupt handler for the wheel sensor
  */
-uint8_t
-check_line_touch(void *params)
-{
-    car_struct_t *car_struct = (car_struct_t *)params;
-
-    return (car_struct->obs->left_sensor_detected << 1)
-           | (car_struct->obs->right_sensor_detected);
-}
-
-bool
-check_collision(void *params)
-{
-    car_struct_t *car_struct = (car_struct_t *)params;
-    //    return ((car_struct->obs->left_sensor_detected << 1)
-    //            | (car_struct->obs->right_sensor_detected))
-    //           || car_struct->obs->ultrasonic_detected;
-    return check_line_touch(car_struct) ||
-           car_struct->obs->ultrasonic_detected;
-}
-
 void
-motor_control_task(void *params)
-{
-    car_struct_t *car_struct = (car_struct_t *)params;
-    set_wheel_direction(DIRECTION_FORWARD);
-    set_wheel_speed_synced(90u, car_struct);
-
-    for (;;)
-    {
-        uint8_t temp = check_line_touch(car_struct);
-        switch (temp)
-        {
-            default:
-                break;
-            case 0b01:
-                car_struct->p_right_motor->speed.distance_cm
-                    -= SLOT_DISTANCE_CM;
-                break;
-            case 0b10:
-                car_struct->p_right_motor->speed.distance_cm
-                    += SLOT_DISTANCE_CM;
-                break;
-            case 0b11:
-                turn(DIRECTION_LEFT, 90u, 90u, car_struct);
-                set_wheel_direction(DIRECTION_FORWARD);
-                set_wheel_speed_synced(90u, car_struct);
-                break;
-        }
-
-        vTaskDelay(pdMS_TO_TICKS(25));
-    }
-}
-
-void
-obs_task(void *params)
-{
-    car_struct_t *car_struct = (car_struct_t *)params;
-
-    set_wheel_direction(DIRECTION_FORWARD);
-    set_wheel_speed_synced(90u, car_struct);
-
-    for (;;)
-    {
-        if (car_struct->obs->ultrasonic_detected)
-        {
-//             turn(DIRECTION_LEFT, 130u, 90u, car_struct);
-//             set_wheel_direction(DIRECTION_FORWARD);
-//             set_wheel_speed_synced(90u, car_struct);
-//
-            revert_wheel_direction();
-            distance_to_stop(car_struct, 20.f);
-        }
-        vTaskDelay(pdMS_TO_TICKS(50));
-    }
-}
-
-void
-turn_task(void *params)
-{
-        car_struct_t *car_struct = (car_struct_t *)params;
-
-        for (;;)
-        {
-                set_wheel_direction(DIRECTION_FORWARD);
-                set_wheel_speed_synced(89u, car_struct);
-
-                distance_to_stop(car_struct, 20.f);
-                vTaskDelay(pdMS_TO_TICKS(1000));
-
-//                turn_to_yaw(DIRECTION_LEFT, 230.f, 80u, car_struct);
-
-                turn(DIRECTION_RIGHT, 80.f, 90u, car_struct);
-                vTaskDelay(pdMS_TO_TICKS(1000));
-        }
-}
-
-void
-h_main_irq_handler(void)
+h_isr_handler(void)
 {
     if (gpio_get_irq_event_mask(SPEED_PIN_LEFT) & GPIO_IRQ_EDGE_FALL)
     {
         gpio_acknowledge_irq(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL);
 
         BaseType_t xHigherPriorityTaskWoken = pdFALSE;
-        xSemaphoreGiveFromISR(g_left_sem, &xHigherPriorityTaskWoken);
+        xSemaphoreGiveFromISR(g_left_sem,
+                              &xHigherPriorityTaskWoken);
         portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
     }
 
@@ -122,7 +26,8 @@ h_main_irq_handler(void)
         gpio_acknowledge_irq(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL);
 
         BaseType_t xHigherPriorityTaskWoken = pdFALSE;
-        xSemaphoreGiveFromISR(g_right_sem, &xHigherPriorityTaskWoken);
+        xSemaphoreGiveFromISR(g_right_sem,
+                              &xHigherPriorityTaskWoken);
         portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
     }
 }
@@ -148,61 +53,40 @@ main(void)
 
     // Magnetometer
     magnetometer_init(&car_struct);
-//        magnetometer_tasks_init(&car_struct);
-    //    updateDirection(car_struct.p_direction);
     printf("Magnetometer initialized!\n");
 
-//    sleep_ms(1000);
-
     // ultra
     ultrasonic_init(&car_struct);
-    ultrasonic_task_init(&car_struct);
     printf("Ultrasonic sensor initialized!\n");
 
     // line
     line_sensor_init(&car_struct);
-    line_tasks_init(&car_struct);
     printf("Line sensor initialized!\n");
 
     // motor
     motor_init(&car_struct);
-    motor_tasks_init(&car_struct, &h_main_irq_handler);
     printf("Motor initialized!\n");
 
     sleep_ms(1000u);
 
-     // control task
-//     TaskHandle_t h_motor_turning_task_handle = NULL;
-//     xTaskCreate(motor_control_task,
-//                 "motor_turning_task",
-//                 configMINIMAL_STACK_SIZE,
-//                 (void *)&car_struct,
-//                 PRIO,
-//                 &h_motor_turning_task_handle);
-
-    // obs task
-//    TaskHandle_t h_obs_task_handle = NULL;
-//    xTaskCreate(obs_task,
-//                "obs_task",
-//                configMINIMAL_STACK_SIZE,
-//                (void *)&car_struct,
-//                PRIO,
-//                &h_obs_task_handle);
-
-    // turn task
-        TaskHandle_t h_turn_task_handle = NULL;
-        xTaskCreate(turn_task,
-                    "turn_task",
-                    configMINIMAL_STACK_SIZE,
-                    (void *)&car_struct,
-                    PRIO,
-                    &h_turn_task_handle);
-
     // PID timer
     struct repeating_timer pid_timer;
     add_repeating_timer_ms(-50, repeating_pid_handler, &car_struct, &pid_timer);
 
-    vTaskStartScheduler();
+    // wheel encoder
+    gpio_set_irq_enabled(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL, true);
+    gpio_add_raw_irq_handler(SPEED_PIN_RIGHT, h_isr_handler);
+
+    gpio_set_irq_enabled(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL, true);
+    gpio_add_raw_irq_handler(SPEED_PIN_LEFT, h_isr_handler);
+
+    irq_set_enabled(IO_IRQ_BANK0, true);
+
+    for (;;)
+    {
+        // motor monitoring
+
+    }
 
     return (0);
 }