diff --git a/example/FindAFriend/FindAFriend/.theia/launch.json b/example/FindAFriend/FindAFriend/.theia/launch.json
new file mode 100644
index 0000000..7e4253b
--- /dev/null
+++ b/example/FindAFriend/FindAFriend/.theia/launch.json
@@ -0,0 +1,8 @@
+{
+  // Use IntelliSense to learn about possible attributes.
+  // Hover to view descriptions of existing attributes.
+  "version": "0.2.0",
+  "configurations": [
+  
+  ]
+}
diff --git a/example/FindAFriend/FindAFriend/FindAFriend.ino b/example/FindAFriend/FindAFriend/FindAFriend.ino
new file mode 100644
index 0000000..54bd000
--- /dev/null
+++ b/example/FindAFriend/FindAFriend/FindAFriend.ino
@@ -0,0 +1,48 @@
+#include "Dezibot.h"
+
+Dezibot dezibot =  Dezibot();
+const int centeredThreshold = 100;
+
+void setup() {
+  // put your setup code here, to run once:
+  dezibot.begin();
+  Serial.begin(115200);
+}
+
+void loop() {
+  int32_t leftValue = (int32_t)dezibot.lightDetection.getAverageValue(IR_LEFT, 20, 1);
+  int32_t rightValue = (int32_t)dezibot.lightDetection.getAverageValue(IR_RIGHT, 20, 1); 
+  switch(dezibot.lightDetection.getBrightest(IR)){
+    case IR_FRONT:
+      //correct Stearing to be centered
+      if( abs(leftValue-rightValue)
+          < centeredThreshold){
+            dezibot.motion.move(1);
+          }else{
+            if (leftValue > rightValue){
+              dezibot.motion.rotateAnticlockwise(1);
+            } else{
+              dezibot.motion.rotateClockwise(1);
+            }
+          }
+      dezibot.multiColorLight.setTopLeds(BLUE);
+      break;
+    case IR_LEFT:
+      dezibot.motion.rotateAnticlockwise(1);
+      dezibot.multiColorLight.setTopLeds(RED);
+      break;
+    case IR_RIGHT:
+      dezibot.motion.rotateClockwise(1);
+      dezibot.multiColorLight.setTopLeds(GREEN);
+      break;
+    case IR_BACK:
+      if(leftValue > rightValue){
+        dezibot.motion.rotateAnticlockwise(1);
+      } else {
+        dezibot.motion.rotateClockwise(1);
+      }
+      dezibot.multiColorLight.setTopLeds(YELLOW);
+      break;
+  }
+  //delay(100);
+}
diff --git a/example/IRDirection/IRDirection/IRDirection.ino b/example/IRDirection/IRDirection/IRDirection.ino
new file mode 100644
index 0000000..024edfd
--- /dev/null
+++ b/example/IRDirection/IRDirection/IRDirection.ino
@@ -0,0 +1,35 @@
+#include "Dezibot.h"
+
+Dezibot dezibot =  Dezibot();
+void setup() {
+  // put your setup code here, to run once:
+  dezibot.begin();
+  Serial.begin(115200);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  Serial.print("Front:");
+  Serial.print(dezibot.lightDetection.getAverageValue(IR_FRONT,20,1));
+  Serial.print(",Left:");
+  Serial.print(dezibot.lightDetection.getAverageValue(IR_LEFT,20,1));
+  Serial.print(",Right:");
+  Serial.print(dezibot.lightDetection.getAverageValue(IR_RIGHT,20,1));
+  Serial.print(",Back:");
+  Serial.println(dezibot.lightDetection.getAverageValue(IR_BACK,20,1));
+  switch(dezibot.lightDetection.getBrightest(IR)){
+    case IR_FRONT:
+      dezibot.multiColorLight.setTopLeds(BLUE);
+      break;
+    case IR_LEFT:
+      dezibot.multiColorLight.setTopLeds(RED);
+      break;
+    case IR_RIGHT:
+      dezibot.multiColorLight.setTopLeds(GREEN);
+      break;
+    case IR_BACK:
+      dezibot.multiColorLight.setTopLeds(YELLOW);
+      break;
+  }
+  //delay(100);
+}
diff --git a/example/example.ino b/example/example.ino
index f055251..f0f619a 100644
--- a/example/example.ino
+++ b/example/example.ino
@@ -13,6 +13,6 @@ dezibot.multiColorLight.setLed(TOP_RIGHT,dezibot.multiColorLight.color(0,100,0))
 dezibot.multiColorLight.blink(10,0x00FF0000,BOTTOM,500);
 
 delay(1000);
-dezibot.multiColorLight.turnOff(ALL);
+dezibot.multiColorLight.turnOffLed(ALL);
 delay(1000);
 }
diff --git a/example/motion.ino b/example/motion.ino
index e1f6d37..e14f760 100644
--- a/example/motion.ino
+++ b/example/motion.ino
@@ -2,7 +2,7 @@
 Dezibot dezibot = Dezibot(); 
 void setup() {   
     dezibot.begin();
-   Serial.begin(9600); 
+    Serial.begin(115200); 
 }  
 void loop() {   
     Serial.println("bla");   
diff --git a/src/Dezibot.cpp b/src/Dezibot.cpp
index a0e30c8..587bef7 100644
--- a/src/Dezibot.cpp
+++ b/src/Dezibot.cpp
@@ -12,7 +12,7 @@
 
 #include "Dezibot.h"
 
-Dezibot::Dezibot():multiColorLight(){
+Dezibot::Dezibot():multiColorLight(){};
 
 void Dezibot::begin(void) {
     infraredLight.begin();
@@ -21,4 +21,4 @@ void Dezibot::begin(void) {
     multiColorLight.begin();
 };
 
-};
+
diff --git a/src/lightDetection/LightDetection.cpp b/src/lightDetection/LightDetection.cpp
index 8fc22fd..9812d11 100644
--- a/src/lightDetection/LightDetection.cpp
+++ b/src/lightDetection/LightDetection.cpp
@@ -47,6 +47,7 @@ photoTransistors LightDetection::getBrightest(ptType type){
 };
 
 uint32_t LightDetection::getAverageValue(photoTransistors sensor, uint32_t measurments, uint32_t timeBetween){
+    
     TickType_t xLastWakeTime = xTaskGetTickCount();
     TickType_t frequency = timeBetween / portTICK_PERIOD_MS;
     uint64_t cumulatedResult = 0; 
@@ -58,6 +59,7 @@ uint32_t LightDetection::getAverageValue(photoTransistors sensor, uint32_t measu
 };
 
 void LightDetection::beginInfrared(void){
+    digitalWrite(IR_PT_ENABLE,true);
     pinMode(IR_PT_ENABLE, OUTPUT);
     pinMode(IR_PT_FRONT_ADC, INPUT);
     pinMode(IR_PT_LEFT_ADC, INPUT);
@@ -66,13 +68,14 @@ void LightDetection::beginInfrared(void){
 };
 
 void LightDetection::beginDaylight(void){
+    digitalWrite(DL_PT_ENABLE,true);
     pinMode(DL_PT_ENABLE, OUTPUT);
     pinMode(DL_PT_BOTTOM_ADC, INPUT);
     pinMode(DL_PT_FRONT_ADC, INPUT );
 };
 
 uint16_t LightDetection::readIRPT(photoTransistors sensor){
-    digitalWrite(IR_PT_ENABLE,HIGH);
+    //digitalWrite(IR_PT_ENABLE,HIGH);
     uint16_t result = 0;
     switch (sensor)
     {
@@ -91,7 +94,7 @@ uint16_t LightDetection::readIRPT(photoTransistors sensor){
     default:
         break;
     }
-    digitalWrite(IR_PT_ENABLE,LOW);
+    //digitalWrite(IR_PT_ENABLE,LOW);
     return result;
 };