diff --git a/control_systems/Control System/ComputerVision/.gitignore b/control_systems/Control System/ComputerVision/.gitignore
new file mode 100644
index 0000000..259148f
--- /dev/null
+++ b/control_systems/Control System/ComputerVision/.gitignore	
@@ -0,0 +1,32 @@
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
diff --git a/control_systems/Control System/ComputerVision/LICENSE b/control_systems/Control System/ComputerVision/LICENSE
new file mode 100644
index 0000000..f288702
--- /dev/null
+++ b/control_systems/Control System/ComputerVision/LICENSE	
@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
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+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+  Later license versions may give you additional or different
+permissions.  However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+  15. Disclaimer of Warranty.
+
+  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+  16. Limitation of Liability.
+
+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    <program>  Copyright (C) <year>  <name of author>
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<https://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.
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diff --git a/control_systems/Control System/ComputerVision/README.md b/control_systems/Control System/ComputerVision/README.md
new file mode 100644
index 0000000..ba182e8
--- /dev/null
+++ b/control_systems/Control System/ComputerVision/README.md	
@@ -0,0 +1,3 @@
+# ComputerVision
+The computer vision software for the Olympian robot. Ram and Ryan
+
diff --git a/control_systems/Control System/balance/NaoBalanceTest.py b/control_systems/Control System/balance/NaoBalanceTest.py
new file mode 100644
index 0000000..1ec425b
--- /dev/null
+++ b/control_systems/Control System/balance/NaoBalanceTest.py	
@@ -0,0 +1,188 @@
+from os import truncate
+from controller import Robot, Supervisor, Display
+from shapely.geometry import Polygon #for rectangle intersections
+from shapely.geometry import Point
+import time
+
+supervisor = Supervisor()
+
+global TIMESTEP
+TIMESTEP = int(supervisor.getBasicTimeStep())
+
+robotNode = supervisor.getRoot() 
+children = robotNode.getField("children")
+robot = children.getMFNode(5)
+
+startTime = time.time()
+
+#get devices
+
+
+gyro = supervisor.getDevice("gyro")
+accel = supervisor.getDevice("accelerometer")    
+
+gyro.enable(TIMESTEP)
+accel.enable(TIMESTEP)
+
+right_shoulder_pitch = supervisor.getDevice("RShoulderPitch")
+left_shoulder_pitch = supervisor.getDevice("LShoulderPitch")
+
+right_torso_pitch = supervisor.getDevice("RHipPitch")
+left_torso_pitch = supervisor.getDevice("LHipPitch")
+
+right_hip_roll = supervisor.getDevice("RHipRoll")
+left_hip_roll = supervisor.getDevice("LHipRoll")
+
+right_knee_pitch = supervisor.getDevice("RKneePitch")
+left_knee_pitch = supervisor.getDevice("LKneePitch")
+
+right_ankle_pitch = supervisor.getDevice("RAnklePitch")
+left_ankle_pitch = supervisor.getDevice("LAnklePitch")
+
+left_foot_bumper_left = supervisor.getDevice("LFoot/Bumper/Left")
+right_foot_bumper_right = supervisor.getDevice("RFoot/Bumper/Right")
+
+left_foot_sensor = supervisor.getDevice("LFsr")
+right_foot_sensor = supervisor.getDevice("RFsr")
+
+
+rightFootSlot = robot.getField("rightFootSlot")
+rightFootSlotPosition = rightFootSlot.getMFNode(0).getPosition()
+# print(rightFootSlotPosition)
+
+leftFootSlot = robot.getField("leftFootSlot")
+leftFootSlotPosition = leftFootSlot.getMFNode(0).getPosition()
+# print(leftFootSlotPosition)
+
+#default +0.075, -0.025, +0.05, -0.05
+def isCOMInSupportPlane(wantDistance):
+        coordinate1 = ((rightFootSlotPosition[0] + 0.075), (rightFootSlotPosition[2] + 0.05)) #Right Foot, Front Edge
+        coordinate2 = ((rightFootSlotPosition[0] - 0.025), (rightFootSlotPosition[2] + 0.05)) #Right Foot, Back Edge
+
+        coordinate3 = ((leftFootSlotPosition[0] - 0.025), (leftFootSlotPosition[2] - 0.05)) #Left Foot, Back Edge
+        coordinate4 = ((leftFootSlotPosition[0] + 0.075), (leftFootSlotPosition[2] - 0.05)) #Left Foot, Front Edge
+
+        coordinate5 = ((robot.getCenterOfMass()[0]), (robot.getCenterOfMass()[2]))
+
+        supportRectangle = Polygon([coordinate1,coordinate2,coordinate3,coordinate4])
+
+        COMPoint = Point(coordinate5)
+
+     
+        if(wantDistance== False):
+                return supportRectangle.contains(COMPoint)
+        elif(wantDistance == True):
+                return supportRectangle.distance(COMPoint)
+
+def isComInSupportPlaneCenter(wantDistance):
+        coordinate1 = ((rightFootSlotPosition[0] + 0.075), (rightFootSlotPosition[2] + 0.05)) #Right Foot, Front Edge
+        coordinate2 = ((rightFootSlotPosition[0] - 0.025), (rightFootSlotPosition[2] + 0.05)) #Right Foot, Back Edge
+
+        coordinate3 = ((leftFootSlotPosition[0] - 0.025), (leftFootSlotPosition[2] - 0.05)) #Left Foot, Back Edge
+        coordinate4 = ((leftFootSlotPosition[0] + 0.075), (leftFootSlotPosition[2] - 0.05)) #Left Foot, Front Edge
+
+        coordinate5 = ((robot.getCenterOfMass()[0]), (robot.getCenterOfMass()[2]))
+
+        supportRectangle = Polygon([coordinate1,coordinate2,coordinate3,coordinate4])
+
+        COMPoint = Point(coordinate5)
+
+        print("COM is at " + str(COMPoint))
+        print("COM should be at" + str(supportRectangle.centroid))
+
+        if (wantDistance == False):
+                if((COMPoint.x > coordinate2[0]) and (COMPoint.x < (coordinate2[0] + 0.03))):
+                        return True
+                elif(supportRectangle.centroid != COMPoint):
+                        return False
+        elif (wantDistance == True):
+                return ((coordinate2[0] + 0.015) - COMPoint.x)
+
+
+    
+
+
+
+
+shoulderForce = 1.5
+
+
+right_shoulder_pitch.setPosition(shoulderForce)
+left_shoulder_pitch.setPosition(shoulderForce)
+
+
+
+
+firstTimeMovingTest = True
+
+fallingForward = True
+
+isComInSupportPlaneCenter(False)
+
+while supervisor.step(TIMESTEP) != -1:
+
+
+        if(time.time() - startTime >= 3 and firstTimeMovingTest == True ):
+                # right_torso_pitch.setPosition(testForce)
+                # left_torso_pitch.setPosition(testForce)
+                # robot.addForce(5, False)
+                #145 good
+                # forcex = 100
+                # forcex = -75/-80
+                forcex = -85
+                robot.addForce([forcex,0,0], False)
+                firstTimeMovingTest = False
+
+        # if(time.time() - startTime >= 6 ):
+        #         # isComInSupportPlaneCenter()
+        #         # print(robot.getCenterOfMass())
+        #         print(isComInSupportPlaneCenter(True))
+
+        if(isCOMInSupportPlane(False) == False and firstTimeMovingTest == False):
+
+                if(robot.getCenterOfMass()[0] > 0):
+                        fallingForward = True  #com is forward so apply backwards motor values (positive motor values)
+                elif (robot.getCenterOfMass()[0] < 0):
+                        fallingForward = False #com is backward so apply forwards motor values (negative motor values)
+                
+                # print(fallingForward)
+
+                
+
+                # print(error)
+                fallModifier = 1
+
+                if(fallingForward == True):
+                        fallModifier = 1
+                elif(fallingForward == False):
+                        fallModifier = -1
+                
+                
+                #PID CONTROL (ADD DERIVITIVE)
+                #CO = CObias + KC * e(t)
+                ankleerror = isCOMInSupportPlane(True) #find error/e(t)
+                anklekc = 1 * fallModifier
+                ankleCObias = 0
+                ankleCO = ankleCObias + (anklekc * ankleerror) 
+                
+                torsoerror = isCOMInSupportPlane(True) #find error/e(t)
+                torsokc = 2 * fallModifier
+                torsoCObias = 0
+                torsoCO = torsoCObias + (torsokc * torsoerror) 
+                
+                shouldererror = isCOMInSupportPlane(True) #find error/e(t)
+                shoulderkc = 2 * fallModifier
+                shoulderCObias = 0
+                shoulderCO = shoulderCObias + (shoulderkc * shouldererror) 
+                
+                right_ankle_pitch.setPosition(ankleCO)
+                left_ankle_pitch.setPosition(ankleCO)
+                
+                right_torso_pitch.setPosition(torsoCO)
+                left_torso_pitch.setPosition(torsoCO)
+                
+                right_shoulder_pitch.setPosition(shoulderCO)
+                left_shoulder_pitch.setPosition(shoulderCO)
+                
+                
+                print("CO " + str(shoulderCO))
\ No newline at end of file
diff --git a/control_systems/Control System/balance/olympian.py b/control_systems/Control System/balance/olympian.py
new file mode 100644
index 0000000..b1ad941
--- /dev/null
+++ b/control_systems/Control System/balance/olympian.py	
@@ -0,0 +1,161 @@
+"""olympian controller."""
+
+# You may need to import some classes of the controller module. Ex:
+#  from controller import Robot, Motor, DistanceSensor
+from controller import Robot, TouchSensor
+import time
+import numpy as np
+
+def calculateCOM(robot):
+  # links needed to calculate COM
+  torso = robot.getDevice("torsoMotor")
+  upperLeftLeg= robot.getDevice("upperLeftLegMotor")
+  upperRightLeg = robot.getDevice("upperRightLegMotor")
+
+  links = [torso, upperLeftLeg, upperRightLeg] # additional links will be added, when they're made
+
+  totalMass = len(links) # assumption that all links have mass of 1
+  centerOfMass = [0, 0, 0, 0]
+
+  for i in links: 
+    # instantiation of values
+    # need to add code to get joint angles
+    if i == torso:
+        r = 0.25
+        theta0 = 0
+        theta1 = 0
+    else:
+        r = 0.225
+        theta0 = 0
+        theta1 = 0
+    
+    # instantiation of matrices 
+    # assumption that all angle values are in degrees
+    transformationMatrixToLink = [[np.cos(theta0*np.pi/180), -np.sin(theta0*np.pi/180), 
+                                 0, 2*r*np.cos(theta0*np.pi/180)], [np.sin(theta0*np.pi/180), 
+                                 np.cos(theta0*np.pi/180), 0, 2*r*np.sin(theta0*np.pi/180)], 
+                                 [0, 0, 1, 0], [0, 0, 0, 1]]                       
+    vectorOfJointAngles = [2*r*np.cos(theta1*np.pi/180), 2*r*np.sin(theta1*np.pi/180), 0, 1]
+    transformationMatrixToLinkCOM = [[np.cos(theta1*np.pi/180), 0, -np.sin(theta1*np.pi/180), 
+                                    2*r*np.cos(theta0*np.pi/180)], [0, 1, 0, 0], 
+                                    [np.sin(theta1*np.pi/180), 0, np.cos(theta1*np.pi/180), 
+                                    2*r*np.sin(theta0*np.pi/180)], [0, 0, 0, 1]]
+    
+    # COM of each link is calculated forward kinematics equations
+    calc = np.dot(transformationMatrixToLink,vectorOfJointAngles)
+    # print(calc)
+    calc=np.dot(calc,transformationMatrixToLinkCOM) 
+    # print(calc)                      
+    #calc = transformationMatrixToLink.dot(vectorOfJointAngles).dot(transformationMatrixToLinkCOM)
+    
+    # COM of the entire rigid body is calculated using a weighted average
+    centerOfMass += (1/totalMass)*calc
+    
+  return centerOfMass[0], centerOfMass[1], centerOfMass[2]
+
+
+def main():
+    # create the Robot instance.
+    print("Initializing world...")
+    robot = Robot()
+    timestep = 16
+    curr_time = 0
+    
+    lfootsensor = robot.getDevice("torso_gyro")
+    
+        
+    while robot.step(timestep) != -1:
+        # print(calculateCOM(robot))
+        curr_time += timestep/1000.0
+        # head_motor = robot.getDevice("torso_yaw")
+        motor2 = robot.getDevice("neck_roll")
+        lknee = robot.getDevice("left_knee_pitch")
+        rknee = robot.getDevice("right_knee_pitch")
+        lhip = robot.getDevice("left_hip_pitch")
+        rhip = robot.getDevice("right_hip_pitch")
+        lfootsensor.enable(10)
+        
+        
+        # print sensor data every second
+        
+        if curr_time % 1 < 0.01:
+            
+            print(lfootsensor.getValues())
+            
+        # lfoot = robot.getDevice("left_ankle_pitch")
+        # rfoot = robot.getDevice("right_ankle_pitch")
+
+def func():
+ 
+    torso_pitch = robot.getDevice("torso_pitch")
+    
+    # head_motor.setVelocity(1)
+    lknee.setVelocity(2)
+    # rknee.setVelocity(2)
+    lknee.setPosition(1)
+    # rknee.setPosition(2)
+    torso_pitch.setVelocity(2)
+    # torso_pitch.setTorque(10)
+    
+    lhip.setVelocity(2)
+    rhip.setVelocity(2)
+    lhip.setPosition(-1)
+    torso_pitch.setPosition(0.2)
+    # rhip.setPosition(-0.2)
+    # rknee.setPosition(0.2)
+    
+    # rhip.setPosition(-0.7)
+    
+    # lfoot.setVelocity(2)
+    # rfoot.setVelocity(2)
+    # lfoot.setPosition(0.3)
+    # rfoot.setPosition(0.3)
+    
+    if curr_time > 1:
+        lknee.setPosition(0.1)
+        lhip.setPosition(0.5)
+        torso_pitch.setPosition(0.7)
+    
+    # pos = 0
+    # add = False
+    
+    # if curr_time > 6:
+        # while robot.step(32) != -1:
+            # torso_pitch.setPosition(pos)
+            # time.sleep(0.1)
+            
+            # if add:
+                # pos += 0.2
+            # else:
+                # pos -= 0.2
+                
+            # if pos >= 2:
+                # add = False
+            # elif pos <= 0:
+                # add = True
+    
+    # get the time step of the current world.
+    # timestep = int(robot.getBasicTimeStep())
+    # motor2.setPosition(3)
+    # Main loop:
+    # - perform simulation steps until Webots is stopping the controller
+    # while robot.step(timestep) != -1:
+        # head_motor.setPosition(pos)
+        # motor2.setPosition(pos)
+        # motor2.setPosition(pos)
+        # motor3.setPosition(-pos)
+        # time.sleep(0.1)
+        
+        # if add:
+            # pos += 0.2
+        # else:
+            # pos -= 0.2
+            
+        # if pos >= 3:
+            # add = False
+        # elif pos <= 3:
+            # add = True
+    
+    # Enter here exit cleanup code.
+    
+main()
diff --git a/control_systems/Control System/balance/standingBalance.py b/control_systems/Control System/balance/standingBalance.py
new file mode 100644
index 0000000..3ba4694
--- /dev/null
+++ b/control_systems/Control System/balance/standingBalance.py	
@@ -0,0 +1,207 @@
+"""Olympian Controller"""
+
+# You may need to import some classes of the controller module. Ex:
+#  from controller import Robot, Motor, DistanceSensor
+from controller import Robot, Accelerometer, Gyro, TouchSensor, Supervisor
+import time
+
+def integral(error, priorIntegral):
+  return priorIntegral + error * (TIMESTEP)
+
+def derivative(error, priorError):
+  return (error-priorError)/(TIMESTEP)
+
+def actuatorMovement(robot, pidOutput):
+  #Inverse Kinematic Equation
+  torso_pitch = robot.getDevice("torso_pitch")
+  right_knee_pitch = robot.getDevice("left_hip_pitch")
+  left_knee_pitch = robot.getDevice("right_hip_pitch")
+
+  if pidOutput[0] > 0.5:
+     torso_pitch.setVelocity(1000)
+     right_knee_pitch.setVelocity(1000)
+     left_knee_pitch.setVelocity(1000)
+     torso_pitch.setPosition(-1.3)   
+     right_knee_pitch.setPosition(-1.3)   
+     left_knee_pitch.setPosition(-1.3)   
+     print("here1")
+  elif pidOutput[0] < -0.5:
+     torso_pitch.setVelocity(1000)
+     right_knee_pitch.setVelocity(1000)
+     left_knee_pitch.setVelocity(1000)
+     torso_pitch.setPosition(1.3)   
+     right_knee_pitch.setPosition(1.3)   
+     left_knee_pitch.setPosition(1.3)   
+     print("here2")
+  return
+
+def controllerPID(robot, error, priorError, priorIntegral):
+  # Constant values we change to try to optimize
+  # Kp is relevant for dominant response of system
+  # Ki brings memory into the system
+  # Kd responsible for the rate of change of this controller
+  Kp = 1
+  Ki = 0
+  Kd = 0
+  #Usually not needed, but just in case we ever need nonstop motion
+  xBias = 0
+  yBias = 0
+
+  nominalValue = 0.0
+  Kc = 1.0 # Kc is the controller gain
+  tauI = 1.0 # tauI is the reset time, which is a tuning param for integral
+  tauD = 0.0 # tauD is derivative time. Tuning param for derivative
+  maxMotor = 1000.0 # How big the signal that goes to the actuator is
+  minMotor = 0.0 # How small the signal that goes to the actuator is
+  
+  integralX = integral(error[0], priorIntegral[0])
+  integralY = integral(error[1], priorIntegral[1])
+  
+  if(TIMESTEP >= 1):
+    derivativeX = derivative(error[0], priorError[0])
+    derivativeY = derivative(error[1], priorError[1])
+  else:
+    derivativeX = 0.0
+    derivativeY = 0.0
+
+
+  ux = nominalValue + Kc*error[0] + Kc/tauI * integralX + Kc * tauD * derivativeX
+  
+  if(ux > maxMotor):
+    ux = maxMotor
+    integralX = integralX - error[0]*(TIMESTEP)
+  elif(ux < minMotor):
+    ux = minMotor
+    integralX = integralX - error[0]*(TIMESTEP)
+  
+  uy = nominalValue + Kc*error[1] + Kc/tauI * integralY + Kc * tauD * derivativeY
+
+  if(uy > maxMotor):
+    uy = maxMotor
+    integralY = integralY - error[1]*(TIMESTEP)
+  elif(ux < minMotor):
+    uy = minMotor
+    integralY = integralY - error[1]*(TIMESTEP)
+
+  priorError = error
+  priorIntegral = [integralX, integralY]
+
+  print("ux " + str(ux))
+  print("uy " + str(uy))
+
+  actuatorMovement(robot, [ux, uy])
+
+
+def calculateZMP(gyro, accel):
+  # [x,y,z] data -- assuming placed at CoM
+  gData = gyro.getValues()
+  aData = gyro.getValues()
+
+  CoM_height = 1 # some constant value for CoM Height from Ground
+  gravity = 9.81
+
+  xObs = -CoM_height/gravity * aData[0]
+  yObs = -CoM_height/gravity * aData[2]
+
+  return xObs, yObs
+
+def calculateCOM(robot):
+    links = ["left_foot", "left_shin", "left_thigh", "left_lower_arm", "left_upper_arm", "right_foot", "right_shin", 
+              "right_thigh", "right_lower_arm", "right_upper_arm", "torso", "head", "pelvis"]
+    
+    centerOfMass = [0, 0, 0]
+    
+    for i in links:
+        temp = Supervisor.getFromDef(i)
+        tempCOM = temp.getCenterOfMass()
+        centerOfMass += tempCOM
+    
+    return centerOfMass/8.18
+
+def main():
+  print("Initializing Olympiad...")
+  robot = Robot()
+  
+  # get the time step of the current world.
+  global TIMESTEP
+  TIMESTEP = int(robot.getBasicTimeStep())
+
+  # gyroscope, accelorometer
+  gyro = robot.getDevice("torso_gyro")
+  accel = robot.getDevice("torso_accelerometer")
+
+  gyro.enable(TIMESTEP)
+  accel.enable(TIMESTEP)
+  
+  # If the ZMP is stable then there will be no trajectory
+  # Assumes that the base-frame-origin is in between the two feet since it's standing
+  # This stays under the x and y coor of the COM (assuming standing straight)
+  desiredXZMP = 0
+  desiredYZMP = 0
+
+  priorError = [0,0]
+  priorIntegral = [0, 0]
+
+  while robot.step(TIMESTEP) != -1:
+    xObs, yObs = calculateZMP(gyro, accel)
+    error = [desiredXZMP-xObs, desiredYZMP-yObs]
+    controllerPID(robot, error, priorError, priorIntegral)
+
+
+if __name__ == '__main__':
+    main()
+
+
+# def main():
+    #create the Robot instance.
+    # print("Initializing world...")
+    # robot = Robot()
+    # timestep = 16
+    # curr_time = 0
+    
+    # lfootsensor = robot.getDevice("torso_gyro")
+    
+        
+    # while robot.step(timestep) != -1:
+        #print(calculateCOM(robot))
+        # curr_time += timestep/1000.0
+        #head_motor = robot.getDevice("torso_yaw")
+        # motor2 = robot.getDevice("neck_roll")
+        # lknee = robot.getDevice("left_knee_pitch")
+        # rknee = robot.getDevice("right_knee_pitch")
+        # lhip = robot.getDevice("left_hip_pitch")
+        # rhip = robot.getDevice("right_hip_pitch")
+        # lfootsensor.enable(10)
+        
+        
+        #print sensor data every second
+        
+        # if curr_time % 1 < 0.01:
+            
+            # print(lfootsensor.getValues())
+            
+        #lfoot = robot.getDevice("left_ankle_pitch")
+        #rfoot = robot.getDevice("right_ankle_pitch")
+
+def func():
+ 
+    torso_pitch = robot.getDevice("torso_pitch")
+    
+    lknee.setVelocity(2)
+    lknee.setPosition(1)
+    torso_pitch.setVelocity(2)
+
+    
+    lhip.setVelocity(2)
+    rhip.setVelocity(2)
+    lhip.setPosition(-1)
+    torso_pitch.setPosition(0.2)
+
+    
+    if curr_time > 1:
+        lknee.setPosition(0.1)
+        lhip.setPosition(0.5)
+        torso_pitch.setPosition(0.7)
+    
+    
+main()
\ No newline at end of file
diff --git a/control_systems/Control System/bootup.py b/control_systems/Control System/bootup.py
index f96f3dd..282152c 100644
--- a/control_systems/Control System/bootup.py	
+++ b/control_systems/Control System/bootup.py	
@@ -124,11 +124,11 @@ class Receiver:
     threading.Thread(target=self.telemetryTransmit).start()
     threading.Thread(target=self.execute).start()
 
-    # threading.Thread(target=self.sensorData).start()
+    threading.Thread(target=self.sensorData).start()
 
     threading.Thread(target=self.balance).start()
-    # threading.Thread(target=self.gaitGen).start()
-    # threading.Thread(target=self.comuterVision).start()
+    threading.Thread(target=self.gaitGen).start()
+    threading.Thread(target=self.comuterVision).start()
 
 def startBoot():
   simulation = Receiver('10.235.1.145',12345)