diff --git a/.gitignore b/.gitignore
index fa18d1a..a0581ec 100644
--- a/.gitignore
+++ b/.gitignore
@@ -32,4 +32,6 @@ SwiftyCar/Sources/SwiftyCar/car
 xcuserdata/
 .settings
 .project
-.classpath
\ No newline at end of file
+.classpath
+
+.vscode/settings.json
\ No newline at end of file
diff --git a/.idea/codeStyles/Project.xml b/.idea/codeStyles/Project.xml
index 681f41a..0d15693 100644
--- a/.idea/codeStyles/Project.xml
+++ b/.idea/codeStyles/Project.xml
@@ -1,5 +1,23 @@
 <component name="ProjectCodeStyleConfiguration">
   <code_scheme name="Project" version="173">
+    <JetCodeStyleSettings>
+      <option name="PACKAGES_TO_USE_STAR_IMPORTS">
+        <value>
+          <package name="java.util" alias="false" withSubpackages="false" />
+          <package name="kotlinx.android.synthetic" alias="false" withSubpackages="true" />
+          <package name="io.ktor" alias="false" withSubpackages="true" />
+        </value>
+      </option>
+      <option name="PACKAGES_IMPORT_LAYOUT">
+        <value>
+          <package name="" alias="false" withSubpackages="true" />
+          <package name="java" alias="false" withSubpackages="true" />
+          <package name="javax" alias="false" withSubpackages="true" />
+          <package name="kotlin" alias="false" withSubpackages="true" />
+          <package name="" alias="true" withSubpackages="true" />
+        </value>
+      </option>
+    </JetCodeStyleSettings>
     <codeStyleSettings language="XML">
       <indentOptions>
         <option name="CONTINUATION_INDENT_SIZE" value="4" />
diff --git a/.idea/gradle.xml b/.idea/gradle.xml
index 9ac3aed..ad99ec1 100644
--- a/.idea/gradle.xml
+++ b/.idea/gradle.xml
@@ -11,9 +11,10 @@
           <set>
             <option value="$PROJECT_DIR$" />
             <option value="$PROJECT_DIR$/CarControlleriOS" />
+            <option value="$PROJECT_DIR$/SwiftyCar" />
             <option value="$PROJECT_DIR$/app" />
-            <option value="$PROJECT_DIR$/car" />
             <option value="$PROJECT_DIR$/protobuf" />
+            <option value="$PROJECT_DIR$/pycar" />
           </set>
         </option>
         <option name="resolveModulePerSourceSet" value="false" />
diff --git a/SwiftyCar/Package.resolved b/SwiftyCar/Package.resolved
index aec55de..8eac167 100644
--- a/SwiftyCar/Package.resolved
+++ b/SwiftyCar/Package.resolved
@@ -6,8 +6,8 @@
         "repositoryURL": "https://github.com/grpc/grpc-swift.git",
         "state": {
           "branch": null,
-          "revision": "b83ee1ee2caa0660eb02444977b9b6e353c2adbf",
-          "version": "1.0.0-alpha.12"
+          "revision": "640b0ef1d0be63bda0ada86786cfda678ab2aae9",
+          "version": "1.0.0-alpha.19"
         }
       },
       {
@@ -15,8 +15,8 @@
         "repositoryURL": "https://github.com/apple/swift-log.git",
         "state": {
           "branch": null,
-          "revision": "74d7b91ceebc85daf387ebb206003f78813f71aa",
-          "version": "1.2.0"
+          "revision": "173f567a2dfec11d74588eea82cecea555bdc0bc",
+          "version": "1.4.0"
         }
       },
       {
@@ -24,8 +24,8 @@
         "repositoryURL": "https://github.com/apple/swift-nio.git",
         "state": {
           "branch": null,
-          "revision": "40bdad80882d307abe2c0bb36cf3bd4d3e03fe04",
-          "version": "2.16.1"
+          "revision": "5fc24345f92ec4c274121776c215ab0aa1ed4d50",
+          "version": "2.22.0"
         }
       },
       {
@@ -33,8 +33,8 @@
         "repositoryURL": "https://github.com/apple/swift-nio-http2.git",
         "state": {
           "branch": null,
-          "revision": "82eb3fa0974b838358ee46bc6c5381e5ae5de6b9",
-          "version": "1.11.0"
+          "revision": "1e68e51752be0b43c5a0ef35818c1dd24d13e77c",
+          "version": "1.14.1"
         }
       },
       {
@@ -42,8 +42,8 @@
         "repositoryURL": "https://github.com/apple/swift-nio-ssl.git",
         "state": {
           "branch": null,
-          "revision": "ae213938e151964aa691f0e902462fbe06baeeb6",
-          "version": "2.7.1"
+          "revision": "ea1dfd64193bf5af4490635a4a44c4fb43b1e1ae",
+          "version": "2.9.1"
         }
       },
       {
@@ -51,8 +51,8 @@
         "repositoryURL": "https://github.com/apple/swift-nio-transport-services.git",
         "state": {
           "branch": null,
-          "revision": "85a67aea7caf5396ed599543dd23cffeb6dbbf96",
-          "version": "1.5.1"
+          "revision": "bb56586c4cab9a79dce6ec4738baddb5802c5de7",
+          "version": "1.9.0"
         }
       },
       {
@@ -60,8 +60,26 @@
         "repositoryURL": "https://github.com/apple/swift-protobuf.git",
         "state": {
           "branch": null,
-          "revision": "7790acf0a81d08429cb20375bf42a8c7d279c5fe",
-          "version": "1.8.0"
+          "revision": "0279688c9fc5a40028e1b5bb0cb56534a45a6020",
+          "version": "1.12.0"
+        }
+      },
+      {
+        "package": "SwiftRPLidar",
+        "repositoryURL": "https://vato.ddns.net/gitlab/vato007/swiftrplidar.git",
+        "state": {
+          "branch": "master",
+          "revision": "761eb0bc1a00b4627a7870ffac121a542ff0cd6b",
+          "version": null
+        }
+      },
+      {
+        "package": "SwiftSerial",
+        "repositoryURL": "https://vato.ddns.net/gitlab/vato007/SwiftSerial.git",
+        "state": {
+          "branch": "dtr_support",
+          "revision": "2cb65bc2ff508acc05c165d1a05381cc681f7591",
+          "version": null
         }
       },
       {
@@ -69,8 +87,8 @@
         "repositoryURL": "https://github.com/uraimo/SwiftyGPIO.git",
         "state": {
           "branch": null,
-          "revision": "4127ff9dd5c6aa8acb6be34b7ce2af2f6e0b942d",
-          "version": "1.1.14"
+          "revision": "2038228e020cf12a62012b1ebe36bb9b8e6fdb6a",
+          "version": "1.2.5"
         }
       }
     ]