diff --git a/app.py b/app.py
index 8f463ca..12ea93c 100644
--- a/app.py
+++ b/app.py
@@ -21,7 +21,6 @@ from kuukar.kuukar import kuukar
 # collision = kuukar_collision.collision(mcu, lcd, leds)
 
 car = kuukar()
-
 while True:
     temp = car.sensors.get_temperature()
     humid = car.sensors.get_humidity_pct()
diff --git a/kuukar/kuukar.py b/kuukar/kuukar.py
index cf294c7..16b674f 100644
--- a/kuukar/kuukar.py
+++ b/kuukar/kuukar.py
@@ -12,9 +12,7 @@ class kuukar:
     def __init__(self) -> None:
         self.mcu = telemetrix_rpi_pico.TelemetrixRpiPico(
             com_port=SERIAL_MCU, sleep_tune=0.001)
-        self.drv = telemetrix_rpi_pico.TelemetrixRpiPico(
-            com_port=SERIAL_DRV, sleep_tune=0.001)
-        self.sensors = kuukar_sensors.sensors(self.mcu, self.drv)
+        self.sensors = kuukar_sensors.sensors(self.mcu)
         self.leds = kuukar_leds.leds(self.mcu)
         self.motion = kuukar_motion.motion(
             self.mcu, self.drv, self.leds, self.sensors)
diff --git a/kuukar/kuukar_config.py b/kuukar/kuukar_config.py
index 4e5f565..a7421ad 100644
--- a/kuukar/kuukar_config.py
+++ b/kuukar/kuukar_config.py
@@ -1,11 +1,9 @@
-SERIAL_MCU = "/dev/serial/by-id/usb-Raspberry_Pi_Pico_E660B4400771212A-if00"
-SERIAL_DRV = "/dev/serial/by-id/usb-Raspberry_Pi_Pico_E6609CB2D3846033-if00"
+SERIAL_MCU = "/dev/serial/by-id/usb-Raspberry_Pi_Pico_E6609CB2D3846033-if00"
 SERIAL_LCD = "/dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_Controller_0001-if00-port0"
 
-# HC Sonar Pins
-SONAR_1_ADC_PIN = 0
-SONAR_2_ADC_PIN = 1
-SONAR_3_ADC_PIN = 2
+# Sonar Pin
+SONAR_ADC_PIN = 1
+
 
 # Motor Pins
 MOTOR_FL_F = 7
@@ -20,8 +18,6 @@ MOTOR_RR_R = 12
 # Full Speed 90 Degrees Turn Time
 TURN_TIME_FS_90DEG_MS = 3000.0
 
-BEEPER_PIN = 15
-
 COLLISION_DETECTOR_PIN = 16
 COLLISION_ENABLE = True
 
@@ -32,6 +28,6 @@ LEFT_SIGNAL_LEDS = [4, 5, 6, 7]
 RIGHT_SIGNAL_LEDS = [0, 1, 14, 15]
 REVERSE_LEDS = [11, 10, 9]
 
-LIGHT_SENSOR_PIN = 2
+LIGHT_SENSOR_PIN = 0
 
-DHT22_PIN = 14
+DHT22_PIN = 0
diff --git a/kuukar/kuukar_motion.py b/kuukar/kuukar_motion.py
index fc29a1c..eb8a573 100644
--- a/kuukar/kuukar_motion.py
+++ b/kuukar/kuukar_motion.py
@@ -114,40 +114,6 @@ class motion:
             time.sleep(0.3)
 
     def __roam_handle(self):
-        sensitivity = 35
-        turn_speed = 40
-        drive_speed = 25
-
-        f_dist = self.sensors.sonar_get_distance(1)
-        if 0 < f_dist < sensitivity:  # Close to collision, turn the vehicle
-            print("collision")
-            self.drive(-drive_speed)
-            time.sleep(0.75)
-            self.stop()
-            l_dist = self.sensors.sonar_get_distance(0)
-            r_dist = self.sensors.sonar_get_distance(2)
-            if l_dist < sensitivity:  # Left side is blocked
-                if r_dist < sensitivity:  # Both side are blocked, do a full 180deg turn
-                    print("full turn")
-                    self.turn(30, 2)
-                    self.drive(23)
-                else:
-                    # Right Side is Free, turn right
-                    print("right turn")
-                    self.turn(turn_speed, 1)
-                    self.drive(drive_speed)
-            elif r_dist < sensitivity:  # Right side is blocked, left side is free, turn left
-                print("right left")
-                self.turn(-turn_speed, 1)
-                self.drive(drive_speed)
-            else:  # Both Side are free, randomize a direction
-                print("turn random")
-                right: bool = randint(0, 1)
-                if right:
-                    self.turn(turn_speed, 1)
-                    self.drive(drive_speed)
-                else:
-                    self.turn(-turn_speed, 1)
-                    self.drive(drive_speed)
+        time.sleep(1)
         if not self.roaming:
             self.stop()
\ No newline at end of file
diff --git a/kuukar/kuukar_sensors.py b/kuukar/kuukar_sensors.py
index 797030b..fa3d9b7 100644
--- a/kuukar/kuukar_sensors.py
+++ b/kuukar/kuukar_sensors.py
@@ -1,32 +1,25 @@
 from telemetrix_rpi_pico import telemetrix_rpi_pico
-from kuukar.kuukar_config import DHT22_PIN, SONAR_1_ADC_PIN, SONAR_2_ADC_PIN, SONAR_3_ADC_PIN, LIGHT_SENSOR_PIN
+from kuukar.kuukar_config import DHT22_PIN, SONAR_ADC_PIN, LIGHT_SENSOR_PIN
 
 
 class sensors:
-    __sonar_adc_pins = [SONAR_1_ADC_PIN,
-                         SONAR_2_ADC_PIN, SONAR_3_ADC_PIN]
-    __sonar_distances = [0, 0, 0]
+    __sonar_distances = 0
     __temperature = 0
     __humidity = 0
     __brightness = 0
 
-    def __init__(self, mcu: telemetrix_rpi_pico.TelemetrixRpiPico, drv: telemetrix_rpi_pico.TelemetrixRpiPico) -> None:
+    def __init__(self, mcu: telemetrix_rpi_pico.TelemetrixRpiPico) -> None:
         self.mcu = mcu
-        self.drv = drv
-        self.drv.set_pin_mode_analog_input(SONAR_1_ADC_PIN, 100, self.__sonar_callback)
-        self.drv.set_pin_mode_analog_input(SONAR_2_ADC_PIN, 100, self.__sonar_callback)
-        self.drv.set_pin_mode_analog_input(SONAR_3_ADC_PIN, 100, self.__sonar_callback)
-        self.mcu.set_pin_mode_dht(DHT22_PIN, self.__dht22_callback)
-        self.drv.set_pin_mode_analog_input(LIGHT_SENSOR_PIN, 0, self.__light_sensor_callback)
+        self.mcu.set_pin_mode_analog_input(SONAR_ADC_PIN, 100, self.__sonar_callback)
+        self.mcu.set_pin_mode_dht(DHT22_PIN, self.__dht22_callback) 
+        self.mcu.set_pin_mode_analog_input(LIGHT_SENSOR_PIN, 0, self.__light_sensor_callback)
 
-    def sonar_get_distance(self, id: int) -> float:
-        return self.__sonar_distances[id]
+    def sonar_get_distance(self) -> float:
+        return self.__sonar_distances
 
     def __sonar_callback(self, data):
-        pin = data[1]
         distance = data[2]
-        sonar_id = self.__sonar_adc_pins.index(pin)
-        self.__sonar_distances[sonar_id] = distance
+        self.__sonar_distances = distance
 
     def get_brightness_pct(self) -> float:
         return self.__brightness