diff --git a/Controller/Controller.ino b/Controller/Controller.ino
index dbf4b58..57a36b0 100644
--- a/Controller/Controller.ino
+++ b/Controller/Controller.ino
@@ -1,39 +1,167 @@
-extern "C" {
-  #include "user_interface.h"
-}
+#include <helper_3dmath.h>
+#include <MPU6050_6Axis_MotionApps20.h>
+#include <MPU6050.h>
+
+
 #include <Wire.h>
+#include <WiFiUdp.h>
 #include <ESP8266WiFi.h>
+#include <EEPROM.h>
 
 String WifiSSIDPrefix = "CrystalPoint";
-char WifiPassword[10];
-char WifiSSID[17];
+uint16_t BasestationPort = 2730;
+IPAddress BasestationIp = IPAddress(192, 168, 4, 1);
+
+struct MPU6050Data{
+  int gx;
+  int gy;
+  int gz;
+  int ax;
+  int ay;
+  int az;
+  int fx;
+  int fy;  
+};
+
+struct JoystickData{
+  int x;
+  int y;
+  char button;
+};
+
+struct SwitchData{
+  char backSwitch;
+  char magnetSwitch;
+};
+
+//Data buffer for sensors
+struct MPU6050Data mpu6050data = {0};
+struct JoystickData joystickdata = {0};
+struct SwitchData switchdata = {0};
+
+//UDP server (receiving) setup
+unsigned int udpPort = 2730;
+byte packetBuffer[512]; //udp package buffer
+WiFiUDP Udp;
 
 void setup(void){
   Serial.begin(115200);
+  Serial.println();
+  WiFi.mode(WIFI_STA);
+  WiFi.disconnect();  
+  EEPROM.begin(512);
+  Udp.begin(udpPort);
 
-  //LED
-  pinMode(4,OUTPUT);
-  digitalWrite(4,LOW);
-  
-  delay(100);
-  setupWifi();
+  //clearEeprom();
+  //connectLastBasestation();
+  searchBasestation();
 }
 
 void loop(void){
+  //receiving rumble or shock data from basestation
+  int noBytes = Udp.parsePacket();
+  if ( noBytes ) {
+    Serial.print(millis() / 1000);
+    Serial.print(":Packet of ");
+    Serial.print(noBytes);
+    Serial.print(" received from ");
+    Serial.print(Udp.remoteIP());
+    Serial.print(":");
+    Serial.println(Udp.remotePort());
+    // We've received a packet, read the data from it
+    Udp.read(packetBuffer,noBytes); // read the packet into the buffer
 
-  //main loop
+    // display the packet contents in HEX
+    for (int i=1;i<=noBytes;i++){
+      Serial.print(packetBuffer[i-1],HEX);
+      if (i % 32 == 0){
+        Serial.println();
+      }
+      else Serial.print(' ');
+    } 
+    Serial.println();
+  } 
 
-  delay(100);
+  //Send new data  
+  joystickdata.x = 1;
+  joystickdata.y = 2;
+  joystickdata.button = 0;
+  mpu6050data.gx = 1;
+  mpu6050data.gy = 2;
+  mpu6050data.gz = 3;
+  mpu6050data.ax = 4;
+  mpu6050data.ay = 5;
+  mpu6050data.az = 6;
+  mpu6050data.fx = 7;
+  mpu6050data.fy = 8;
+  switchdata.backSwitch = 9;
+  switchdata.magnetSwitch = 10;
+
+
+  sendUdpMessage(&joystickdata, &mpu6050data, &switchdata);
+  
+  //30 times per second new data
+  delay(33);
 }
 
-void setupWifi(void){
-  WiFi.disconnect(true);
-  WiFi.mode(...);
-
-  generateWiFiPassword();
+void searchBasestation(void){
+  Serial.print("Scanning for basestation ");
+  for(int j = 0; j < 10; j++){
+    int n = WiFi.scanNetworks();
+    for (int i = 0; i < n; ++i){
+      if(WiFi.SSID(i).startsWith(WifiSSIDPrefix)){    //We've found a basestation
+        char WifiPassword[10];
+        char WifiSSID[17];
+        WiFi.SSID(i).toCharArray(WifiSSID, WiFi.SSID(i).length() + 1);
+            
+        calculateWiFiPassword(WiFi.SSID(i), WifiPassword);
+            
+        Serial.printf("Basestation found! SSID: %s", WifiSSID);
+        Serial.printf("\nBasestation password: %s", WifiPassword);
+  
+        //Connect to the basestation
+        WiFi.begin(WifiSSID, WifiPassword);
+  
+        ///Writing data to eeprom
+        writeEeprom(WifiSSID, WifiPassword);
+  
+        //Break out of the loop and stop scanning
+        n = 254;
+        j = 254;
+      }
+    }
+    Serial.print(".");
+    delay(1000);
+  }
 }
 
-void generateWiFiPassword()
+void connectLastBasestation(void){
+    Serial.println("Reading information from EEPROM");
+    char eepromWifiSSID[17];
+    char eepromWifiPassword[10];
+
+    //Read SSID
+    for (int i = 0; i < 17; i++){
+        eepromWifiSSID[i] = char(EEPROM.read(i));
+    }
+    eepromWifiSSID[17] = '\0';
+
+    //Read Password
+    for (int i = 0; i < 10; i++){
+        eepromWifiPassword[i]= char(EEPROM.read(17+i));
+    }
+    eepromWifiPassword[10] = '\0';
+
+    //Verify valid memory
+    if(String(eepromWifiSSID).startsWith(WifiSSIDPrefix)){
+      Serial.printf("Valid basestation information in eeprom found! \nEeprom SSID: %s \nEeprom Password: %s", eepromWifiSSID, eepromWifiPassword);
+      
+      //Connect to the basestation
+      WiFi.begin(eepromWifiSSID, eepromWifiPassword);
+    } 
+}
+
+void calculateWiFiPassword(String WifiSSID, char *WifiPassword)
 {
   String WifiStringPassword;
   for(char i=0; i < 17; i++){
@@ -43,6 +171,37 @@ void generateWiFiPassword()
   for (int i=0; i < 10; i++)
     WifiPassword[i] = WifiStringPassword.charAt(i);
   WifiPassword[9] = '\0';
-  Serial.print("Wifi password: ");  
-  Serial.println(WifiPassword);
 }
+
+void sendUdpMessage(struct JoystickData *joystick, struct MPU6050Data *mpu6050data, struct SwitchData *switchdata){
+  char sendBuffer[512];
+  Udp.beginPacket(BasestationIp, BasestationPort);
+  sprintf(sendBuffer, "%06d%06d%01d", joystick->x, joystick->y, joystick->button);
+  sprintf(sendBuffer, "%s%06d%06d%06d%06d%06d%06d%06d%06d", sendBuffer, mpu6050data->gx, mpu6050data->gy, mpu6050data->gz, mpu6050data->ax, mpu6050data->ay, mpu6050data->az, mpu6050data->fx, mpu6050data->fy);
+  sprintf(sendBuffer, "%s%01d%01d", sendBuffer, switchdata->backSwitch, switchdata->magnetSwitch);
+  Serial.printf("%s", sendBuffer);
+  Serial.println();
+  Udp.write(sendBuffer);
+  Udp.endPacket();
+}
+
+void writeEeprom(char *WifiSSID, char *WifiPassword){
+  //Clean memory
+  clearEeprom();
+
+  //Write ssid
+  for(int i = 0; i < 17; i++){
+    EEPROM.write(i, WifiSSID[i]);
+  }
+  
+  //Write password
+  for(int i = 0; i < 10; i++){
+    EEPROM.write(17+i, WifiPassword[i]);
+  }
+  EEPROM.commit();
+}
+
+void clearEeprom(){
+  for (int i = 0; i < 30; i++) { EEPROM.write(i, 0); }
+}
+