diff --git a/Odometry/code/code.ino b/Odometry/code/code.ino
new file mode 100644
index 0000000..248c374
--- /dev/null
+++ b/Odometry/code/code.ino
@@ -0,0 +1,72 @@
+/*
+ * This example shows how to use WebSerial variant to send logging data to the browser.
+ *
+ * Before using this example, make sure to look at the WebSerial example before and its description.\
+ *
+ * You might want to control these flags to control the async library performance:
+ *  -D CONFIG_ASYNC_TCP_QUEUE_SIZE=64
+ *  -D CONFIG_ASYNC_TCP_RUNNING_CORE=1
+ *  -D WS_MAX_QUEUED_MESSAGES=128
+ */
+#include <Arduino.h>
+#if defined(ESP8266)
+#include <ESP8266WiFi.h>
+#include <ESPAsyncTCP.h>
+#elif defined(ESP32)
+#include <AsyncTCP.h>
+#include <WiFi.h>
+#endif
+#include <DNSServer.h>
+#include <ESPAsyncWebServer.h>
+#include <WString.h>
+#include <MycilaWebSerial.h>
+
+AsyncWebServer server(80);
+WebSerial webSerial;
+
+static uint32_t last = millis();
+static uint32_t count = 0;
+
+const char* ssid = "Dialog NNJ";
+const char* password = "Mixtures";
+
+void setup() {
+  Serial.begin(115200);
+
+  // Connect to WiFi in Station Mode
+  WiFi.mode(WIFI_STA);
+  WiFi.begin(ssid, password);
+  Serial.println("Connecting to WiFi...");
+
+  while (WiFi.status() != WL_CONNECTED) {
+    delay(500);
+    Serial.print(".");
+  }
+  Serial.println("")
+
+  Serial.println("\nConnected! IP address: ");
+  Serial.println(WiFi.localIP());
+
+  webSerial.onMessage([](const std::string& msg) { Serial.println(msg.c_str()); });
+  webSerial.begin(&server);
+  webSerial.setBuffer(100);
+
+  server.onNotFound([](AsyncWebServerRequest* request) { request->redirect("/webserial"); });
+  server.begin();
+////////////////////////////////////
+ 
+
+}
+
+void loop() {
+  if (millis() - last > 1000) {
+    count++;
+
+    webSerial.print(F("IP address: "));
+    webSerial.println(WiFi.softAPIP());
+    webSerial.printf("Uptime: %lums\n", millis());
+    webSerial.printf("Free heap: %" PRIu32 "\n", ESP.getFreeHeap());
+
+    last = millis();
+  }
+}
diff --git a/Odometry/code/data/ESPAsyncWebServer.zip b/Odometry/code/data/ESPAsyncWebServer.zip
new file mode 100644
index 0000000..a7b76d7
Binary files /dev/null and b/Odometry/code/data/ESPAsyncWebServer.zip differ
diff --git a/Odometry/code/motor_control.h b/Odometry/code/motor_control.h
new file mode 100644
index 0000000..963ff55
--- /dev/null
+++ b/Odometry/code/motor_control.h
@@ -0,0 +1,71 @@
+#ifndef MOTOR_CONTROL_H
+#define MOTOR_CONTROL_H
+
+#include <Arduino.h>
+#include "pins.h"
+
+void setupMotors()
+{
+    pinMode(RRPWM, OUTPUT);
+    pinMode(RLPWM, OUTPUT);
+    pinMode(LRPWM, OUTPUT);
+    pinMode(LLPWM, OUTPUT);
+    pinMode(REN, OUTPUT);
+    pinMode(LEN, OUTPUT);
+    pinMode(WRPWM, OUTPUT);
+    pinMode(WLPWM, OUTPUT);
+    pinMode(WEN, OUTPUT);
+
+    digitalWrite(REN, HIGH);
+    digitalWrite(LEN, HIGH);
+    digitalWrite(WEN, HIGH);
+}
+
+void controlMotors(int forwardVelocity, int turnVelocity)
+{
+    int leftSpeed = forwardVelocity - turnVelocity;  // Adjust left wheel
+    int rightSpeed = forwardVelocity + turnVelocity; // Adjust right wheel
+
+    leftSpeed = constrain(leftSpeed, -255, 255);
+    rightSpeed = constrain(rightSpeed, -255, 255);
+
+    // Left wheel control
+    if (leftSpeed > 0)
+    {
+        analogWrite(LLPWM, 0);
+        analogWrite(LRPWM, leftSpeed);
+    }
+    else
+    {
+        analogWrite(LLPWM, -leftSpeed);
+        analogWrite(LRPWM, 0);
+    }
+
+    // Right wheel control
+    if (rightSpeed > 0)
+    {
+        analogWrite(RLPWM, 0);
+        analogWrite(RRPWM, rightSpeed);
+    }
+    else
+    {
+        analogWrite(RLPWM, -rightSpeed);
+        analogWrite(RRPWM, 0);
+    }
+}
+
+void controlWeapon(int weaponVelocity)
+{
+    if (weaponVelocity > 0)
+    {
+        analogWrite(WLPWM, 0);
+        analogWrite(WRPWM, weaponVelocity);
+    }
+    else
+    {
+        analogWrite(WLPWM, -weaponVelocity);
+        analogWrite(WRPWM, 0);
+    }    
+}
+
+#endif
diff --git a/Odometry/code/pins.h b/Odometry/code/pins.h
new file mode 100644
index 0000000..9580d82
--- /dev/null
+++ b/Odometry/code/pins.h
@@ -0,0 +1,33 @@
+#ifndef PINS_H
+#define PINS_H
+
+// Receiver Input Pins
+#define S_BUS_IN 16
+
+// BTS7960 Motor Driver Pins (Wheels) (Right)
+#define RRPWM 25
+#define RLPWM 26
+#define REN 33
+
+// BTS7960 Motor Driver Pins (Wheels) (Left)
+#define LRPWM 18
+#define LLPWM 19
+#define LEN 21
+
+// Weapon Motor Pins
+#define WLPWM 12
+#define WRPWM 14
+#define WEN 27
+
+#define NOISE_THRESHOLD 15    // Ignore small values < 15 in PWM
+
+#define THROTTLE_CHANNEL 1
+#define STEERING_CHANNEL 0
+#define WEAPON_CHANNEL 2
+#define KILL_SWITCH_CHANNEL 5 // Channel 6 (zero-based index)
+#define WEAPON_STATE_CHANNEL 6 // Channel 7
+#define STEERING_INVERT_CHANNEL 7 // Channel 8
+
+#define TIMEOUT_MS 500        // Stop bot if no SBUS data received in 500ms
+
+#endif
\ No newline at end of file
diff --git a/Odometry/code/receiver.h b/Odometry/code/receiver.h
new file mode 100644
index 0000000..95975d4
--- /dev/null
+++ b/Odometry/code/receiver.h
@@ -0,0 +1,19 @@
+#ifndef RECEIVER_H
+#define RECEIVER_H
+
+#include "sbus.h"
+#include <Arduino.h>
+
+bfs::SbusRx sbus_rx(&Serial2, S_BUS_IN, -1, true);
+bfs::SbusData data;
+
+void setupReciever()
+{
+    /* Start SBUS communication */
+    sbus_rx.Begin();
+    Serial.println("SBUS Receiver Started!");
+}
+
+
+
+#endif
\ No newline at end of file
diff --git a/Odometry/code/restart.h b/Odometry/code/restart.h
new file mode 100644
index 0000000..7753298
--- /dev/null
+++ b/Odometry/code/restart.h
@@ -0,0 +1,55 @@
+#ifndef RESTART_H
+#define RESTART_H
+
+#include "receiver.h"
+#include "pins.h"
+#include <Arduino.h>
+
+#define TOGGLE_COUNT 3   // Number of toggles required
+#define TIMEOUT_MS 2000  // Time window in milliseconds
+
+void restart()
+{
+    int toggleCount = 0;
+    unsigned long startTime = millis();
+    bool lastKillState = false; // Store last state of kill switch
+
+    Serial.println("🔄 Restart mode activated. Toggle kill switch to restart.");
+
+    while (true)  // Stay here until restart
+    {
+        if (sbus_rx.Read()) // Check if SBUS data is available
+        {
+            data = sbus_rx.data();
+            bool killSwitch = (data.ch[KILL_SWITCH_CHANNEL] > 1000); // CH6: Kill switch
+
+            if (killSwitch != lastKillState) // Detect a toggle
+            {
+                toggleCount++;
+                lastKillState = killSwitch;
+                Serial.print("Kill switch toggled: ");
+                Serial.println(toggleCount);
+            }
+
+            // Restart the system if toggle count met within time window
+            if (toggleCount >= TOGGLE_COUNT && millis() - startTime <= TIMEOUT_MS)
+            {
+                Serial.println("🔄 Restarting system...");
+                delay(100);  // Small delay before reset
+                ESP.restart();  // Safe reset for ESP32
+            }
+        }
+
+        // If time expired, reset counter but continue listening
+        if (millis() - startTime > TIMEOUT_MS)
+        {
+            toggleCount = 0; // Reset toggle count
+            startTime = millis(); // Reset timer
+            Serial.println("⏳ Time expired. Restart attempt reset. Keep toggling...");
+        }
+
+        delay(1); // Prevents watchdog timeout
+    }
+}
+
+#endif // RESTART_H
diff --git a/Odometry/drdy_spi/drdy_spi.ino b/Odometry/drdy_spi/drdy_spi.ino
new file mode 100644
index 0000000..587ae11
--- /dev/null
+++ b/Odometry/drdy_spi/drdy_spi.ino
@@ -0,0 +1,40 @@
+#include <Wire.h>
+#include <MPU9250_asukiaaa.h>
+
+MPU9250_asukiaaa mySensor;
+
+void setup() {
+  Serial.begin(115200);
+  Wire.begin();
+
+  mySensor.setWire(&Wire);
+  mySensor.beginAccel();
+  mySensor.beginGyro();
+  //mySensor.beginMag();
+
+  Serial.println("MPU9250 Raw Data (No Calibration)");
+}
+
+void loop() {
+  mySensor.accelUpdate();
+  mySensor.gyroUpdate();
+  mySensor.magUpdate();
+
+  Serial.print("Accel X/Y/Z: ");
+  Serial.print(mySensor.accelX()); Serial.print(", ");
+  Serial.print(mySensor.accelY()); Serial.print(", ");
+  Serial.println(mySensor.accelZ());
+
+  Serial.print("Gyro X/Y/Z: ");
+  Serial.print(mySensor.gyroX()); Serial.print(", ");
+  Serial.print(mySensor.gyroY()); Serial.print(", ");
+  Serial.println(mySensor.gyroZ());
+
+  Serial.print("Mag X/Y/Z: ");
+  Serial.print(mySensor.magX()); Serial.print(", ");
+  Serial.print(mySensor.magY()); Serial.print(", ");
+  Serial.println(mySensor.magZ());
+
+  Serial.println("------");
+  delay(500);  // Slow down the loop
+}
diff --git a/Odometry/imu_and_optical_flow/imu_and_optical_flow.ino b/Odometry/imu_and_optical_flow/imu_and_optical_flow.ino
new file mode 100644
index 0000000..bcf182d
--- /dev/null
+++ b/Odometry/imu_and_optical_flow/imu_and_optical_flow.ino
@@ -0,0 +1,117 @@
+#include "Bitcraze_PMW3901.h"
+
+#include <Wire.h>
+#include <Adafruit_Sensor.h>
+#include <Adafruit_BNO055.h>
+#include <utility/imumaths.h>
+//#include <cmath>
+
+#define BNO055_SAMPLERATE_DELAY_MS (100)
+
+// Check I2C device address and correct line below (by default address is 0x29 or 0x28)
+//                                   id, address
+Adafruit_BNO055 bno = Adafruit_BNO055(55, 0x29);
+
+// Using digital pin 10 for chip select
+Bitcraze_PMW3901 flow(5);
+
+float yaw,pitch,roll;
+float dx_world, dy_world;
+float dx_raw,dy_raw;
+float x_new, y_new;
+
+struct SensorData {
+  int16_t deltaX;
+  int16_t deltaY;
+  float yaw;
+  float x_new;
+  float y_new;
+};
+
+void printSensorData(const SensorData& data) {
+  Serial.print("deltaX: ");
+  Serial.print(data.deltaX);
+  Serial.print(", deltaY: ");
+  Serial.print(data.deltaY);
+  Serial.print(", yaw: ");
+  Serial.print(data.yaw);
+  Serial.print(", x_new: ");
+  Serial.print(data.x_new);
+  Serial.print(", y_new: ");
+  Serial.println(data.y_new);
+}
+
+void setup() {
+  Serial.begin(115200);
+
+  if (!flow.begin()) {
+    Serial.println("Initialization of the flow sensor failed");
+    while(1) { }
+  }
+  if(!bno.begin())
+  {
+    /* There was a problem detecting the BNO055 ... check your connections */
+    Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");
+    while(1);
+  }
+   
+  delay(1000);
+
+  /* Use external crystal for better accuracy */
+  bno.setExtCrystalUse(true);
+}
+
+int16_t deltaX,deltaY;
+
+void loop() {
+  // Get motion count since last call
+  flow.readMotionCount(&deltaX, &deltaY);
+
+  // Serial.print("X: ");
+  // Serial.print(deltaX);
+  // Serial.print(", Y: ");
+  // Serial.print(deltaY);
+  // Serial.print("\n");
+
+  sensors_event_t event;
+  bno.getEvent(&event);
+
+  yaw = event.orientation.x;
+  pitch = event.orientation.y;
+  roll = event.orientation.z;
+
+  // Serial.print(F("Orientation: x: "));
+  // Serial.print(yaw);
+  // Serial.print(F(" y: "));
+  // Serial.print(pitch);
+  // Serial.print(F(" z: "));
+  // Serial.print(roll);
+  // Serial.println(F(""));
+
+
+ float yaw_rad = yaw * PI / 180.0;
+
+  dx_world = deltaX * cos(yaw_rad) - deltaY * sin(yaw_rad);
+  dy_world = deltaX * sin(yaw_rad) + deltaY * cos(yaw_rad);
+
+
+  x_new = dx_world;
+  y_new = dy_world;
+
+
+  // Serial.print("displacement x: ");
+  // Serial.print(x_new);
+  // Serial.print(F(" y: "));
+  // Serial.println(y_new);
+
+SensorData data;
+data.deltaX = deltaX;
+data.deltaY = deltaY;
+data.yaw = yaw;
+data.x_new = x_new;
+data.y_new = y_new;
+
+printSensorData(data);
+
+  delay(100);
+}
\ No newline at end of file