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diff --git a/.pio/build/uno/lib718/Wire/Wire.cpp.o b/.pio/build/uno/lib718/Wire/Wire.cpp.o
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diff --git a/.pio/build/uno/lib7eb/SoftwareSerial/SoftwareSerial.cpp.o b/.pio/build/uno/lib7eb/SoftwareSerial/SoftwareSerial.cpp.o
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diff --git a/.pio/build/uno/lib820/Adafruit BNO055_ID506/Adafruit_BNO055.cpp.o b/.pio/build/uno/lib820/Adafruit BNO055_ID506/Adafruit_BNO055.cpp.o
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diff --git a/.pio/build/uno/lib820/libAdafruit BNO055_ID506.a b/.pio/build/uno/lib820/libAdafruit BNO055_ID506.a
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diff --git a/.pio/build/uno/libFrameworkArduino.a b/.pio/build/uno/libFrameworkArduino.a
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diff --git a/.pio/build/uno/libFrameworkArduinoVariant.a b/.pio/build/uno/libFrameworkArduinoVariant.a
deleted file mode 100644
index 8b277f0..0000000
--- a/.pio/build/uno/libFrameworkArduinoVariant.a
+++ /dev/null
@@ -1 +0,0 @@
-!<arch>
diff --git a/.pio/build/uno/liba68/libmcp4261.a b/.pio/build/uno/liba68/libmcp4261.a
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diff --git a/.pio/build/uno/libb8e/Adafruit Unified Sensor_ID31/Adafruit_Sensor.cpp.o b/.pio/build/uno/libb8e/Adafruit Unified Sensor_ID31/Adafruit_Sensor.cpp.o
deleted file mode 100644
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diff --git a/.pio/build/uno/libb8e/libAdafruit Unified Sensor_ID31.a b/.pio/build/uno/libb8e/libAdafruit Unified Sensor_ID31.a
deleted file mode 100644
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diff --git a/.pio/build/uno/src/main.cpp.o b/.pio/build/uno/src/main.cpp.o
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diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
deleted file mode 100644
index a4c9513..0000000
--- a/.vscode/c_cpp_properties.json
+++ /dev/null
@@ -1,69 +0,0 @@
-{
-    "configurations": [
-        {
-            "name": "!!! WARNING !!! AUTO-GENERATED FILE, PLEASE DO NOT MODIFY IT AND USE https://docs.platformio.org/page/projectconf/section_env_build.html#build-flags"
-        },
-        {
-            "name": "Win32",
-            "includePath": [
-                "c:/Users/MARCOB/Desktop/Motion tracker/Igor's code/Shoes controller/include",
-                "c:/Users/MARCOB/Desktop/Motion tracker/Igor's code/Shoes controller/src",
-                "c:/Users/MARCOB/Desktop/Motion tracker/Igor's code/Shoes controller/lib/mcp4261",
-                "C:/Users/MARCOB/.platformio/packages/framework-arduino-avr/libraries/SPI/src",
-                "C:/Users/MARCOB/.platformio/packages/framework-arduino-avr/libraries/SoftwareSerial/src",
-                "C:/Users/MARCOB/.platformio/lib/Adafruit BNO055_ID506",
-                "C:/Users/MARCOB/.platformio/lib/Adafruit BNO055_ID506/utility",
-                "C:/Users/MARCOB/.platformio/packages/framework-arduino-avr/libraries/Wire/src",
-                "C:/Users/MARCOB/.platformio/lib/Adafruit Unified Sensor_ID31",
-                "C:/Users/MARCOB/.platformio/packages/framework-arduino-avr/cores/arduino",
-                "C:/Users/MARCOB/.platformio/packages/framework-arduino-avr/variants/standard",
-                "C:/Users/MARCOB/.platformio/lib/Adafruit BMP3XX Library_ID5786",
-                "C:/Users/MARCOB/.platformio/lib/Adafruit BusIO_ID6214",
-                "C:/Users/MARCOB/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src",
-                "C:/Users/MARCOB/.platformio/packages/framework-arduino-avr/libraries/HID/src",
-                "C:/Users/MARCOB/.platformio/packages/tool-unity",
-                ""
-            ],
-            "browse": {
-                "limitSymbolsToIncludedHeaders": true,
-                "path": [
-                    "c:/Users/MARCOB/Desktop/Motion tracker/Igor's code/Shoes controller/include",
-                    "c:/Users/MARCOB/Desktop/Motion tracker/Igor's code/Shoes controller/src",
-                    "c:/Users/MARCOB/Desktop/Motion tracker/Igor's code/Shoes controller/lib/mcp4261",
-                    "C:/Users/MARCOB/.platformio/packages/framework-arduino-avr/libraries/SPI/src",
-                    "C:/Users/MARCOB/.platformio/packages/framework-arduino-avr/libraries/SoftwareSerial/src",
-                    "C:/Users/MARCOB/.platformio/lib/Adafruit BNO055_ID506",
-                    "C:/Users/MARCOB/.platformio/lib/Adafruit BNO055_ID506/utility",
-                    "C:/Users/MARCOB/.platformio/packages/framework-arduino-avr/libraries/Wire/src",
-                    "C:/Users/MARCOB/.platformio/lib/Adafruit Unified Sensor_ID31",
-                    "C:/Users/MARCOB/.platformio/packages/framework-arduino-avr/cores/arduino",
-                    "C:/Users/MARCOB/.platformio/packages/framework-arduino-avr/variants/standard",
-                    "C:/Users/MARCOB/.platformio/lib/Adafruit BMP3XX Library_ID5786",
-                    "C:/Users/MARCOB/.platformio/lib/Adafruit BusIO_ID6214",
-                    "C:/Users/MARCOB/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src",
-                    "C:/Users/MARCOB/.platformio/packages/framework-arduino-avr/libraries/HID/src",
-                    "C:/Users/MARCOB/.platformio/packages/tool-unity",
-                    ""
-                ]
-            },
-            "defines": [
-                "PLATFORMIO=40304",
-                "ARDUINO_AVR_UNO",
-                "F_CPU=16000000L",
-                "ARDUINO_ARCH_AVR",
-                "ARDUINO=10808",
-                "__AVR_ATmega328P__",
-                ""
-            ],
-            "intelliSenseMode": "clang-x64",
-            "cStandard": "c11",
-            "cppStandard": "c++11",
-            "compilerPath": "C:/Users/MARCOB/.platformio/packages/toolchain-atmelavr/bin/avr-gcc.exe",
-            "compilerArgs": [
-                "-mmcu=atmega328p",
-                ""
-            ]
-        }
-    ],
-    "version": 4
-}
diff --git a/.vscode/extensions.json b/.vscode/extensions.json
deleted file mode 100644
index e80666b..0000000
--- a/.vscode/extensions.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-    // See http://go.microsoft.com/fwlink/?LinkId=827846
-    // for the documentation about the extensions.json format
-    "recommendations": [
-        "platformio.platformio-ide"
-    ]
-}
diff --git a/.vscode/launch.json b/.vscode/launch.json
deleted file mode 100644
index d6f899c..0000000
--- a/.vscode/launch.json
+++ /dev/null
@@ -1,32 +0,0 @@
-// AUTOMATICALLY GENERATED FILE. PLEASE DO NOT MODIFY IT MANUALLY
-
-// PIO Unified Debugger
-//
-// Documentation: https://docs.platformio.org/page/plus/debugging.html
-// Configuration: https://docs.platformio.org/page/projectconf/section_env_debug.html
-
-{
-    "version": "0.2.0",
-    "configurations": [
-        {
-            "type": "platformio-debug",
-            "request": "launch",
-            "name": "PIO Debug",
-            "executable": "c:/Users/MARCOB/Desktop/Motion tracker/Igor&#039;s code/Shoes controller/.pio/build/uno/firmware.elf",
-            "toolchainBinDir": "C:/Users/MARCOB/.platformio/packages/toolchain-atmelavr/bin",
-            "preLaunchTask": {
-                "type": "PlatformIO",
-                "task": "Pre-Debug"
-            },
-            "internalConsoleOptions": "openOnSessionStart"
-        },
-        {
-            "type": "platformio-debug",
-            "request": "launch",
-            "name": "PIO Debug (skip Pre-Debug)",
-            "executable": "c:/Users/MARCOB/Desktop/Motion tracker/Igor&#039;s code/Shoes controller/.pio/build/uno/firmware.elf",
-            "toolchainBinDir": "C:/Users/MARCOB/.platformio/packages/toolchain-atmelavr/bin",
-            "internalConsoleOptions": "openOnSessionStart"
-        }
-    ]
-}
\ No newline at end of file
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..6c295d4
--- /dev/null
+++ b/README.md
@@ -0,0 +1,8 @@
+## Version v0.0.2
+
+---
+
+> ## Changes
+> - README.md File Added.
+> - Accelerometer Library properly structured and commented.
+> - Platformio.ini updated with lib_dependencies for the accelerometer.
\ No newline at end of file
diff --git a/include/Accelerometer.h b/include/Accelerometer.h
new file mode 100644
index 0000000..02e4e96
--- /dev/null
+++ b/include/Accelerometer.h
@@ -0,0 +1,51 @@
+#ifndef ACCELEROMETER_H
+#define ACCELEROMETER_H
+
+#include <Arduino.h>
+#include <Adafruit_BNO055.h>
+
+class Accelerometer {
+  Adafruit_BNO055 *bno;
+  imu::Vector<3> euler;
+  imu::Vector<3> linaccel;
+
+  double offset_y, offset_z;
+
+  //  x       y       z
+  //  yaw     pitch   roll
+
+  void setOffsets(double _offset_y, double _offset_z) {
+    offset_y = _offset_y;
+    offset_z = _offset_z;
+  }
+
+ public:
+  /** @details Initialize the Accelerometer. Needs an ID and I2C address. */
+  Accelerometer(int id, int address);
+
+  /** @details Calibrates the accelerometer by getting a euler Vector
+   * and settings this vector as an offset.
+   */
+  void calibrate();
+
+  /** @details Check if the Accelerometer is available
+   *  $$ This should be implemented in a different way!
+   */
+  void begin();
+
+  /** @details Public access to lineaccel vector */
+  imu::Vector<3> getLinAccel();
+
+  /** @details Public access to the X axis of euler vector */
+  double getYaw();
+
+  /** @details Public access to the Y axis of euler vector */
+  double getPitch();
+
+  /** @details Public access to the Z axis of euler vector */
+  double getRoll();
+
+  /** @details Updates the Vectors */
+  void update();
+};
+#endif
\ No newline at end of file
diff --git a/src/Chest.h b/include/Chest.h
similarity index 100%
rename from src/Chest.h
rename to include/Chest.h
diff --git a/src/ChestSensors.h b/include/ChestSensors.h
similarity index 100%
rename from src/ChestSensors.h
rename to include/ChestSensors.h
diff --git a/src/Foot.h b/include/Foot.h
similarity index 100%
rename from src/Foot.h
rename to include/Foot.h
diff --git a/src/Joystick.h b/include/Joystick.h
similarity index 100%
rename from src/Joystick.h
rename to include/Joystick.h
diff --git a/src/WeightSensor.h b/include/WeightSensor.h
similarity index 100%
rename from src/WeightSensor.h
rename to include/WeightSensor.h
diff --git a/src/settings.h b/include/settings.h
similarity index 100%
rename from src/settings.h
rename to include/settings.h
diff --git a/platformio.ini b/platformio.ini
index bfd8b36..76651df 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -15,3 +15,6 @@ framework = arduino
 monitor_speed = 2000000
 monitor_port = COM66
 upload_port = COM66
+lib_deps = 
+  #Accelerometer Library
+  adafruit/Adafruit BNO055 @ ^1.4.1
diff --git a/src/Accelerometer.cpp b/src/Accelerometer.cpp
new file mode 100644
index 0000000..ca7b504
--- /dev/null
+++ b/src/Accelerometer.cpp
@@ -0,0 +1,65 @@
+#include "Accelerometer.h"
+
+/** @brief Initializer
+ *  @param id  set the device ID I2C
+ *  @param address set the device address I2C
+ */
+Accelerometer::Accelerometer(int id, int address) {
+  bno = new Adafruit_BNO055(id, address);
+};
+
+/** @brief Calibrates the sernsor */
+void Accelerometer::calibrate() {
+  euler = bno->getVector(Adafruit_BNO055::VECTOR_EULER);
+  setOffsets(euler.y(), euler.z());
+}
+
+/** @brief Check Acc Communication */
+void Accelerometer::begin() {
+  if (!bno->begin()) {
+    Serial.print("Ooops, no BNO055 1 detected ... Check your wiring or I2C ADDR!");
+    return;
+    while (1)
+      ;
+  }
+  //bno->setExtCrystalUse(false);
+  delay(500);
+
+  calibrate();
+}
+
+/** @brief Gets Linear Acceleration
+ *  @returns a Vector3 formated Linear Acceleration
+ */
+imu::Vector<3> Accelerometer::getLinAccel() {
+  return linaccel;
+}
+
+/** @brief Get the X axis from the euler Vector
+ *  @returns [double]
+ */
+double Accelerometer::getYaw() {
+  return euler.x();
+}
+
+/** @brief Get the Y axis from the euler Vector
+ *  @returns [double]
+ */
+double Accelerometer::getPitch() {
+  return euler.y() - offset_y;
+}
+
+/** @brief Get the Z axis from the euler Vector
+ *  @returns [double]
+ */
+double Accelerometer::getRoll() {
+  return euler.z() - offset_z;
+}
+
+/** @brief Upadte Vectors */
+void Accelerometer::update() {
+  euler = bno->getVector(Adafruit_BNO055::VECTOR_EULER);
+  //delayMicroseconds(1000);
+  linaccel = bno->getVector(Adafruit_BNO055::VECTOR_LINEARACCEL);
+  //delayMicroseconds(1000);
+}
\ No newline at end of file
diff --git a/src/Accelerometer.h b/src/Accelerometer.h
deleted file mode 100644
index 51d01a0..0000000
--- a/src/Accelerometer.h
+++ /dev/null
@@ -1,79 +0,0 @@
-#ifndef ACCELEROMETER_H
-#define ACCELEROMETER_H
-
-#include <Adafruit_BNO055.h>
-
-class Accelerometer
-{
-private:
-    Adafruit_BNO055 *bno;
-    imu::Vector<3> euler;
-    imu::Vector<3> linaccel;
-
-    double offset_y, offset_z;
-
-    //  x       y       z
-    //  yaw     pitch   roll
-
-    void setOffsets(double _offset_y, double _offset_z)
-    {
-        offset_y = _offset_y;
-        offset_z = _offset_z;
-    }
-
-public:
-    Accelerometer(int id, int address)
-    {
-        bno = new Adafruit_BNO055(id, address);
-    };
-
-    void calibrate()
-    {
-        euler = bno->getVector(Adafruit_BNO055::VECTOR_EULER);
-        setOffsets(euler.y(), euler.z());
-    }
-
-    void begin()
-    {
-        if (!bno->begin())
-        {
-            Serial.print("Ooops, no BNO055 1 detected ... Check your wiring or I2C ADDR!");
-            return;
-            while (1)
-                ;
-        }
-        //bno->setExtCrystalUse(false);
-        delay(500);
-
-        calibrate();
-    }
-
-    imu::Vector<3> getLinAccel()
-    {
-        return linaccel;
-    }
-
-    double getYaw()
-    {
-        return euler.x();
-    }
-
-    double getPitch()
-    {
-        return euler.y() - offset_y;
-    }
-
-    double getRoll()
-    {
-        return euler.z() - offset_z;
-    }
-
-    void update()
-    {
-        euler = bno->getVector(Adafruit_BNO055::VECTOR_EULER);
-        //delayMicroseconds(1000);
-        linaccel = bno->getVector(Adafruit_BNO055::VECTOR_LINEARACCEL);
-        //delayMicroseconds(1000);
-    }
-};
-#endif              
\ No newline at end of file