diff --git a/kuukar.py b/kuukar.py
index 49e3500..f513c19 100644
--- a/kuukar.py
+++ b/kuukar.py
@@ -1,4 +1,11 @@
 from telemetrix_rpi_pico import telemetrix_rpi_pico
+import kuukar_leds, kuukar_collision, kuukar_motion, kuukar_lcd, kuukar_sensors
+
+from kuukar_config import SERIAL_AUX_BOARD, SERIAL_DRIVER_BOARD
 if __name__ == '__main__':
-    board = telemetrix_rpi_pico.TelemetrixRpiPico()
-    pass
\ No newline at end of file
+    aux_board = telemetrix_rpi_pico.TelemetrixRpiPico(com_port=SERIAL_AUX_BOARD)
+    driver_board = telemetrix_rpi_pico.TelemetrixRpiPico(com_port=SERIAL_DRIVER_BOARD)
+    sensors = kuukar_sensors.sensors(aux_board,driver_board)
+    leds = kuukar_leds.leds(aux_board=aux_board)
+    lcd = kuukar_lcd.lcd()
+    motion = kuukar_motion.motion(driver_board=driver_board,leds=leds,sensors= sensors)
\ No newline at end of file
diff --git a/kuukar_collision.py b/kuukar_collision.py
index 5978fbc..01e1d2b 100644
--- a/kuukar_collision.py
+++ b/kuukar_collision.py
@@ -1,5 +1,17 @@
+from telemetrix_rpi_pico import telemetrix_rpi_pico
+from kuukar_config import COLLISION_DETECTOR_PIN
+
+from kuukar_lcd import lcd
+from kuukar_leds import leds
 class collision:
-    def __init__(self, board) -> None:
-        self.board = board
-    def collision_handle(self):
-        pass
\ No newline at end of file
+    def __init__(self, aux: telemetrix_rpi_pico.TelemetrixRpiPico, lcd: lcd, leds: leds) -> None:
+        self.aux = aux
+        self.lcd = lcd
+        self.leds = leds
+        aux.set_pin_mode_digital_input(COLLISION_DETECTOR_PIN, self.collision_handle)
+        
+    def collision_handle(self, data):
+        val = data[2]
+        if val == 1:
+            self.leds.flash(r=255,g=0,b=0,duration_ms=250)
+            self.lcd.keke_hurt()
\ No newline at end of file
diff --git a/kuukar_config.py b/kuukar_config.py
index 1a564b2..1b55413 100644
--- a/kuukar_config.py
+++ b/kuukar_config.py
@@ -1,12 +1,15 @@
 SERIAL_DRIVER_BOARD = "/dev/serial/by-id/..."
-MOTOR_FL_F = 4
-MOTOR_FL_R = 5
-MOTOR_FR_F = 6
-MOTOR_FR_R = 7
-MOTOR_R_F = 8
-MOTOR_R_R = 9
+MOTOR_FL_F = 6
+MOTOR_FL_R = 7
+MOTOR_FR_F = 8
+MOTOR_FR_R = 9
+MOTOR_RL_F = 10
+MOTOR_RL_R = 11
+MOTOR_RR_F = 12
+MOTOR_RR_R = 13
 
 SERIAL_AUX_BOARD = "/dev/serial/by-id/..."
 COLLISION_DETECTOR_PIN = 2
 LEDS_DATA_PIN = 3
 DHT22_PIN = 5
+LEDS_NUM = 15
\ No newline at end of file
diff --git a/kuukar_cv.py b/kuukar_cv.py
index 16893f7..7b6a6ce 100644
--- a/kuukar_cv.py
+++ b/kuukar_cv.py
@@ -1,9 +1,8 @@
 from kuukar_lcd import lcd
 from kuukar_leds import leds
-from kuukar_noise import noise
 
 class cv:
-    def __init__(self, lcd: lcd, leds: leds, noise: noise) -> None:
+    def __init__(self, lcd: lcd, leds: leds) -> None:
         self.lcd = lcd
         self.leds = leds
         self.noise = noise
diff --git a/kuukar_leds.py b/kuukar_leds.py
index a55140d..18803f0 100644
--- a/kuukar_leds.py
+++ b/kuukar_leds.py
@@ -1,3 +1,10 @@
+from telemetrix_rpi_pico import telemetrix_rpi_pico
+
+from kuukar_config import LEDS_DATA_PIN, LEDS_NUM
 class leds:
-    def __init__(self, board, led_pin: int) -> None:
-        self.board = board
\ No newline at end of file
+    def __init__(self, aux_board: telemetrix_rpi_pico.TelemetrixRpiPico) -> None:
+        self.aux_board = aux_board
+        self.aux_board.set_pin_mode_neopixel(LEDS_DATA_PIN,LEDS_NUM)
+
+    def flash(r: int,g: int,b: int,duration_ms: int):
+        pass
\ No newline at end of file
diff --git a/kuukar_motion.py b/kuukar_motion.py
index 134634e..c763493 100644
--- a/kuukar_motion.py
+++ b/kuukar_motion.py
@@ -1,29 +1,61 @@
-from kuukar_config import MOTOR_FL_F, MOTOR_FL_R, MOTOR_FR_F, MOTOR_FR_R, MOTOR_R_F, MOTOR_R_R
+from kuukar_config import MOTOR_FL_F, MOTOR_FL_R, MOTOR_FR_F, MOTOR_FR_R, MOTOR_RL_F, MOTOR_RL_R, MOTOR_RR_F, MOTOR_RR_R
+import time
 from kuukar_leds import leds
 from kuukar_sensors import sensors
-from telemetrix import telemetrix
+from telemetrix_rpi_pico import telemetrix_rpi_pico
+import threading
 
 class motion:
-    def __init__(self, driver: telemetrix.Telemetrix, led: leds, sensors: sensors) -> None:
-        self.driver = driver
+
+    roaming = False
+
+    def __init__(self, driver_board: telemetrix_rpi_pico.TelemetrixRpiPico, leds: leds, sensors: sensors) -> None:
+        self.driver = driver_board
         self.leds = leds
         self.sensors = sensors
+        self.roam_thread = threading.Thread(target = self.roam_loop)
+        self.roam_thread.start()
         
-        drive_pins = [MOTOR_FL_F,MOTOR_FL_R,MOTOR_FR_F,MOTOR_FR_R,MOTOR_R_F,MOTOR_R_R]
+        drive_pins = [MOTOR_FL_F,MOTOR_FL_R,MOTOR_FR_F,MOTOR_FR_R,MOTOR_RL_F,MOTOR_RL_R,MOTOR_RR_F,MOTOR_RR_R]
         for drive_pin in drive_pins:
-            self.driver.set_pin_mode_digital_output(drive_pin)
+            self.driver.set_pin_mode_pwm_output(drive_pin)
+
+    def motor_write(self, forward_pin: int,reverse_pin: int, speed: int):
+        if speed < 0:
+            self.driver.pwm_write(forward_pin,0)
+            self.driver.pwm_write(reverse_pin,-speed)
+        elif speed >= 0:
+            self.driver.pwm_write(forward_pin,speed)
+            self.driver.pwm_write(reverse_pin,0)
+
+    def drive(self, speed: int):
+        self.motor_write(MOTOR_FL_F,MOTOR_FL_R,speed)
+        self.motor_write(MOTOR_FR_F,MOTOR_FR_R,speed)
+        self.motor_write(MOTOR_RL_F,MOTOR_RL_R,speed)
+        self.motor_write(MOTOR_RR_F,MOTOR_RR_R,speed)
+        
+    def turn(self, speed: int, duration: float):
+        self.motor_write(MOTOR_FL_F,MOTOR_FL_R,speed)
+        self.motor_write(MOTOR_FR_F,MOTOR_FR_R,-speed)
+        self.motor_write(MOTOR_RL_F,MOTOR_RL_R,speed)
+        self.motor_write(MOTOR_RR_F,MOTOR_RR_R,-speed)
+        time.sleep(duration)
+        self.stop()
 
-    def forward(self, speed: int):
-        self.driver.digital_write(MOTOR_FL_F,1)
-    def turn(self, speed: int, angle: float):
-        pass
-    def backward(self, speed: int):
-        pass
     def stop(self):
-        pass
+        self.drive(0)
+
     def roam_start(self):
-        pass
+        self.roaming = True
+
     def roam_stop(self):
-        pass
-    def roam_loop(self):
+        self.roaming = False
+
+    def __roam_looper__(self):
+        while True:
+            if self.roaming:
+                self.__roam_handle__()
+
+    def __roam_handle__(self):
+        #TODO Implement Roaming Function
         pass
\ No newline at end of file
diff --git a/kuukar_nextion.py b/kuukar_nextion.py
new file mode 100644
index 0000000..e69de29
diff --git a/kuukar_noise.py b/kuukar_noise.py
deleted file mode 100644
index 1096cdd..0000000
--- a/kuukar_noise.py
+++ /dev/null
@@ -1,2 +0,0 @@
-class noise():
-    pass
\ No newline at end of file
diff --git a/kuukar_sensors.py b/kuukar_sensors.py
index 60b0af3..abc6c23 100644
--- a/kuukar_sensors.py
+++ b/kuukar_sensors.py
@@ -1,4 +1,5 @@
+from telemetrix_rpi_pico import telemetrix_rpi_pico
 class sensors:
-    def __init__(self, board, driver) -> None:
-        self.board = board
-        self.driver = driver
\ No newline at end of file
+    def __init__(self, aux_board: telemetrix_rpi_pico.TelemetrixRpiPico, driver_board: telemetrix_rpi_pico.TelemetrixRpiPico) -> None:
+        self.aux = aux_board
+        self.driver = driver_board
\ No newline at end of file
diff --git a/kuukar_temperature.py b/kuukar_temperature.py
index 049f130..d9ce096 100644
--- a/kuukar_temperature.py
+++ b/kuukar_temperature.py
@@ -2,16 +2,14 @@ import threading
 from time import sleep
 from kuukar_lcd import lcd
 from kuukar_leds import leds
-from kuukar_noise import noise
 from kuukar_sensors import sensors
 
 
 class temperature:
-    def __init__(self, lcd: lcd, leds: leds, sensors: sensors, noise: noise) -> None:
+    def __init__(self, lcd: lcd, leds: leds, sensors: sensors) -> None:
         self.lcd = lcd
         self.leds = leds
         self.sensors = sensors
-        self.noise = noise
         threading.Thread(target=self.temperature_checker).start()
     
     def temperature_checker(self):
diff --git a/kuukar_voice.py b/kuukar_voice.py
index 7af04df..8cdb489 100644
--- a/kuukar_voice.py
+++ b/kuukar_voice.py
@@ -4,9 +4,8 @@ from kuukar_noise import noise
 
 
 class voice:
-    def __init__(self, lcd: lcd, leds: leds, noise: noise) -> None:
+    def __init__(self, lcd: lcd, leds: leds) -> None:
         self.lcd = lcd
         self.leds = leds
-        self.noise = noise
     def handle_voice_prompt(self, command):
         pass
\ No newline at end of file
diff --git a/requirements.txt b/requirements.txt
index 5021e60..195ca31 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,3 +1,2 @@
 telemetrix-rpi-pico
-telemetrix
 pyaudio
\ No newline at end of file