diff --git a/.idea/gradle.xml b/.idea/gradle.xml
index 8106474..8276e9a 100644
--- a/.idea/gradle.xml
+++ b/.idea/gradle.xml
@@ -1,10 +1,8 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
-  <component name="GradleMigrationSettings" migrationVersion="1" />
   <component name="GradleSettings">
     <option name="linkedExternalProjectsSettings">
       <GradleProjectSettings>
-        <option name="delegatedBuild" value="false" />
         <option name="testRunner" value="PLATFORM" />
         <option name="distributionType" value="DEFAULT_WRAPPED" />
         <option name="externalProjectPath" value="$PROJECT_DIR$" />
@@ -12,6 +10,7 @@
           <set>
             <option value="$PROJECT_DIR$" />
             <option value="$PROJECT_DIR$/app" />
+            <option value="$PROJECT_DIR$/car" />
             <option value="$PROJECT_DIR$/protobuf" />
           </set>
         </option>
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
index 94a25f7..3e7f7d9 100644
--- a/.idea/vcs.xml
+++ b/.idea/vcs.xml
@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="VcsDirectoryMappings">
-    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+    <mapping directory="" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/car" vcs="Git" />
   </component>
 </project>
\ No newline at end of file
diff --git a/car b/car
index 8fd6ec9..eee0e8d 160000
--- a/car
+++ b/car
@@ -1 +1 @@
-Subproject commit 8fd6ec9514c6f6c235d32d821c66835b07819e8e
+Subproject commit eee0e8dc445691e600680f4abc77f2814b20b054
diff --git a/protobuf/build.gradle b/protobuf/build.gradle
index 9ad14af..6401674 100644
--- a/protobuf/build.gradle
+++ b/protobuf/build.gradle
@@ -40,6 +40,14 @@ protobuf {
     }
 }
 
+task packPythonGrpc(type: Zip) {
+    from protobuf.generatedFilesBaseDir + '/main/python'
+}
+
+artifacts {
+    python(packPythonGrpc)
+}
+
 dependencies {
     implementation 'io.grpc:grpc-okhttp:1.28.1' // CURRENT_GRPC_VERSION
     implementation 'io.grpc:grpc-protobuf-lite:1.28.1' // CURRENT_GRPC_VERSION
diff --git a/protobuf/src/main/proto/motorService.proto b/protobuf/src/main/proto/control/motorService.proto
similarity index 100%
rename from protobuf/src/main/proto/motorService.proto
rename to protobuf/src/main/proto/control/motorService.proto
diff --git a/protobuf/src/main/proto/SlamController.proto b/protobuf/src/main/proto/slam/SlamController.proto
similarity index 100%
rename from protobuf/src/main/proto/SlamController.proto
rename to protobuf/src/main/proto/slam/SlamController.proto
diff --git a/protobuf/src/main/proto/lidar_tracker.proto b/protobuf/src/main/proto/tracking/lidar_tracker.proto
similarity index 100%
rename from protobuf/src/main/proto/lidar_tracker.proto
rename to protobuf/src/main/proto/tracking/lidar_tracker.proto
diff --git a/settings.gradle b/settings.gradle
index 189f7fa..06d1ba1 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -1,3 +1,4 @@
 include ':app'
 include ':protobuf'
+include 'car'
 rootProject.name='CarController'