diff --git a/.gitignore b/.gitignore
index a38edb7..23fe0da 100644
--- a/.gitignore
+++ b/.gitignore
@@ -9,6 +9,5 @@
 *.htm
 *.dep
 *.a
-*.lib
 
 
diff --git a/GeBalanceBot_Firmware v1.0/Project/Project.uvguix.Administrator b/GeBalanceBot_Firmware v1.0/Project/Project.uvguix.Administrator
index aba4151..73f922d 100644
--- a/GeBalanceBot_Firmware v1.0/Project/Project.uvguix.Administrator	
+++ b/GeBalanceBot_Firmware v1.0/Project/Project.uvguix.Administrator	
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+        <xPos>-32000</xPos>
+        <yPos>-32000</yPos>
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@@ -1749,18 +1749,27 @@
       <ActiveTab>1</ActiveTab>
       <Doc>
         <Name>..\User\main.c</Name>
-        <ColumnNumber>12</ColumnNumber>
-        <TopLine>14</TopLine>
-        <CurrentLine>32</CurrentLine>
+        <ColumnNumber>13</ColumnNumber>
+        <TopLine>16</TopLine>
+        <CurrentLine>11</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
-        <Name>..\HARDWARE\MOTO\car.c</Name>
-        <ColumnNumber>38</ColumnNumber>
-        <TopLine>64</TopLine>
-        <CurrentLine>83</CurrentLine>
+        <Name>..\MiniBalance\MPU6050\MPU6050.c</Name>
+        <ColumnNumber>5</ColumnNumber>
+        <TopLine>1</TopLine>
+        <CurrentLine>9</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\MiniBalance\DMP\inv_mpu.c</Name>
+        <ColumnNumber>14</ColumnNumber>
+        <TopLine>1192</TopLine>
+        <CurrentLine>1199</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
diff --git a/GeBalanceBot_Firmware v1.0/Project/Project.uvoptx b/GeBalanceBot_Firmware v1.0/Project/Project.uvoptx
index 526e332..12aad11 100644
--- a/GeBalanceBot_Firmware v1.0/Project/Project.uvoptx	
+++ b/GeBalanceBot_Firmware v1.0/Project/Project.uvoptx	
@@ -623,18 +623,6 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
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-    <File>
-      <GroupNumber>4</GroupNumber>
-      <FileNumber>28</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\System\usart\usart.c</PathWithFileName>
-      <FilenameWithoutPath>usart.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
   </Group>
 
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@@ -645,7 +633,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>29</FileNumber>
+      <FileNumber>28</FileNumber>
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       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -657,7 +645,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>30</FileNumber>
+      <FileNumber>29</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -669,7 +657,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>31</FileNumber>
+      <FileNumber>30</FileNumber>
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       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -681,7 +669,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>32</FileNumber>
+      <FileNumber>31</FileNumber>
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       <tvExp>0</tvExp>
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@@ -693,7 +681,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>33</FileNumber>
+      <FileNumber>32</FileNumber>
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       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -705,7 +693,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>34</FileNumber>
+      <FileNumber>33</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -717,7 +705,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>35</FileNumber>
+      <FileNumber>34</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -737,7 +725,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>36</FileNumber>
+      <FileNumber>35</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -749,7 +737,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>37</FileNumber>
+      <FileNumber>36</FileNumber>
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       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -761,7 +749,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>38</FileNumber>
+      <FileNumber>37</FileNumber>
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       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -773,7 +761,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>39</FileNumber>
+      <FileNumber>38</FileNumber>
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       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -785,7 +773,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>40</FileNumber>
+      <FileNumber>39</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
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@@ -795,6 +783,18 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>6</GroupNumber>
+      <FileNumber>40</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\HARDWARE\IIC\IOI2C.c</PathWithFileName>
+      <FilenameWithoutPath>IOI2C.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>
diff --git a/GeBalanceBot_Firmware v1.0/Project/Project.uvprojx b/GeBalanceBot_Firmware v1.0/Project/Project.uvprojx
index 56750ff..525557a 100644
--- a/GeBalanceBot_Firmware v1.0/Project/Project.uvprojx	
+++ b/GeBalanceBot_Firmware v1.0/Project/Project.uvprojx	
@@ -335,7 +335,7 @@
               <MiscControls></MiscControls>
               <Define>USE_STDPERIPH_DRIVER</Define>
               <Undefine></Undefine>
-              <IncludePath>..\Libraries\CMSIS;..\Libraries\FWlib\inc;..\Libraries\FWlib\src;..\System;..\System\usart\;..\System\sys\;..\User;..\DRV;..\HARDWARE;..\HARDWARE\MOTO;..\HARDWARE\OLED;..\HARDWARE\PID;..\MiniBalance\show;..\MiniBalance\MPU6050;..\MiniBalance\DMP;..\MiniBalance\Control</IncludePath>
+              <IncludePath>..\Libraries\CMSIS;..\Libraries\FWlib\inc;..\Libraries\FWlib\src;..\System;..\System\usart\;..\System\sys\;..\User;..\DRV;..\HARDWARE;..\HARDWARE\IIC;..\HARDWARE\MOTO;..\HARDWARE\OLED;..\HARDWARE\PID;..\MiniBalance\show;..\MiniBalance\MPU6050;..\MiniBalance\DMP;..\MiniBalance\Control</IncludePath>
             </VariousControls>
           </Cads>
           <Aads>
@@ -529,11 +529,6 @@
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               <FilePath>..\System\sys\sys.c</FilePath>
             </File>
-            <File>
-              <FileName>usart.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\System\usart\usart.c</FilePath>
-            </File>
           </Files>
         </Group>
         <Group>
@@ -604,6 +599,11 @@
               <FileType>1</FileType>
               <FilePath>..\HARDWARE\MOTO\motor.c</FilePath>
             </File>
+            <File>
+              <FileName>IOI2C.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\HARDWARE\IIC\IOI2C.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>