diff --git a/control_systems/Control System/Propioception.py b/control_systems/Control System/Registry.py
similarity index 98%
rename from control_systems/Control System/Propioception.py
rename to control_systems/Control System/Registry.py
index 4676e09..c175f01 100644
--- a/control_systems/Control System/Propioception.py	
+++ b/control_systems/Control System/Registry.py	
@@ -1,7 +1,7 @@
 """
 This class keeps track of all the motors, sensors and import variables needed for the robot.
 """
-class Propioception:
+class Registry:
     """
     Standard kwargs to give for this function
 
@@ -25,7 +25,7 @@ class Propioception:
         'left_shoulder_yaw': 0,
         'left_shoulder_roll': 0,
         'left_elbow_pitch': 0,
-        'right_shoulder_pitch': 0,
+        'right_shoulder_pit  ch': 0,
         'right_shoulder_yaw': 0,
         'right_shoulder_roll': 0,
         'right_elbow_pitch': 0,
diff --git a/control_systems/Control System/bootup.py b/control_systems/Control System/bootup.py
index 282152c..620133e 100644
--- a/control_systems/Control System/bootup.py	
+++ b/control_systems/Control System/bootup.py	
@@ -5,7 +5,7 @@
 # Updates sensor data through wifi and propiosense system
 # 1 for executing the first action in the priority queue
 
-from Propioception import *
+from Registry import Registry
 # from commands import *
 
 import re
@@ -21,6 +21,7 @@ class Receiver:
     self.executions = []
     self.transmit = []
     self.data = []
+    self.registry = Registry(IMU = None, ping = None, mode = None, jointAngles = None, position = None, velocity = None)
     self.timer = 0
     self.HOST = host
     self.PORT = port
@@ -107,6 +108,9 @@ class Receiver:
 
   def sensorData(self):
     var = ""
+    delay(100)
+
+    
     # Test
   #  print("Inside")
   #  ser = serial.Serial('/dev/ttyACM0', 115200, timeout=1)