diff --git a/Main.cpp b/Main.cpp
deleted file mode 100644
index 17f74aa..0000000
--- a/Main.cpp
+++ /dev/null
@@ -1,297 +0,0 @@
-#include <iostream>
-#include <stdlib.h>
-
-#include "rec/robotino/api2/all.h"
-
-using namespace rec::robotino::api2;
-using namespace std;
-bool _run = true;
-
-class MyCom : public Com
-{
-public:
-	MyCom()
-		: Com( "example_wallfollow" )
-	{
-	}
-
-	void errorEvent( const char* errorString )
-	{
-		std::cerr << "Error: " << errorString << std::endl;
-	}
-
-	void connectedEvent()
-	{
-		std::cout << "Connected." << std::endl;
-	}
-
-	void connectionClosedEvent()
-	{
-		std::cout << "Connection closed." << std::endl;
-	}
-
-	void logEvent( const char* message, int level )
-	{
-		std::cout << message << std::endl;
-	}
-};
-
-class MyBumper : public Bumper
-{
-public:
-	MyBumper()
-		: bumped( false )
-	{
-	}
-
-	void bumperEvent( bool hasContact )
-	{
-		bumped |= hasContact;
-    if (true == bumped){
-      std::cout << "Bumper has " << ( hasContact ? "contact" : "no contact") << std::endl;
-    }
-	}
-
-	bool bumped;
-};
-
-double x_distance = 0;
-double y_distance = 0;
-double phi_absolute = 0;
-unsigned int sequence = 0;
-
-class MyOdometry: public Odometry{
-  void readingsEvent(double x,double y, double phi, float vx, float vy, float omega, unsigned int seq ){
-	cout << "X: " << x << " Y: " << y << " Richtung: " << phi << " Sequenz: " << seq << endl;  
-	x_distance = x;
-	y_distance = y;
-	phi_absolute = phi;
-	sequence = seq;
-	}
-};
-
-MyCom com;
-MyBumper bumper;
-OmniDrive omniDrive;
-MyOdometry odo;
-
-
-
-void init( const std::string& hostname )
-{
-
-	// Connect
-	std::cout << "Connecting...";
-	com.setAddress( hostname.c_str() );
-
-	com.connectToServer( true );
-
-	if( false == com.isConnected() )
-	{
-		std::cout << std::endl << "Could not connect to " << com.address() << std::endl;
-		rec::robotino::api2::shutdown();
-		exit( 1 );
-	}
-	else
-	{
-		std::cout << "success" << std::endl;
-	}
-}
-
-
-bool DriveorRotate = true;   //TRUE == FAHRENB
-void rotate360(){
-	int Rotation = 0;
-	int turning = 0;
-	cout << "Enter Rotation (2.96 Ganze Umdrehung): ";
-	cin >> Rotation;
-	
-	if (0 <= Rotation){
-		turning = 1;
-	}
-
-	while (1 == turning){
-		com.processEvents();
-		omniDrive.setVelocity(0, 0, 0.2);
-		cout << phi_absolute;
-		rec::robotino::api2::msleep(100);
-	    // cout << "X: " << x << " Y: " << y << "Richtung: " << phi << "Sequenz: " << s << endl;
-		if (Rotation <= phi_absolute){
-			turning = 0;
-			
-		}
-	}
-	com.processComEvents();
-	
-
-}
-
-
-
-
-
-void drive()
-{
-
-
-
-	// Straight = 0, Backwards = 1, RightTop = 2, Right = 3, BottomRight = 4, BottomLeft = 5, Left = 6, TopLeft = 7
-	
-	int Direction = 0;
-
-
-
-
-  	odo.set(0,0,0,-1);
-	
-
-	while( com.isConnected() && false == bumper.value() && _run )
-	{
-
-	rec::robotino::api2::msleep(100); 
-		//TODO: your code here
-		//omniDrive.setVelocity( xspeed, yspeed, rotspeed );
-
-
-
-
-
-
-
-
-
-    // cout << "X: " << x << " Y: " << y << "Richtung: " << phi << "Sequenz: " << s << endl;
-
-	/*if (0 == t){
-		i++;
-		omniDrive.setVelocity(0.1, 0, 0);
-		// cout << i;
-		if (i == 20){
-			rotate360();
-			t = 1;
-		}
-	}
-
-	if (1 == t){
-		i--;
-		omniDrive.setVelocity(0.1, 0, 0);
-		// cout << i;
-
-		if (i == 1){
-			rotate360();
-			t = 0;
-		}
-	}
-	*/
-
-
-	if (0 == Direction){
-		omniDrive.setVelocity(0.2, 0, 0);
-		if (0.5 <= x_distance){
-			Direction = 1;
-		}
-	}
-
-
-	if (1 == Direction){
-		omniDrive.setVelocity(-0.2, 0, 0);
-		if (0.1 >=  x_distance){
-			Direction = 2;
-		}
-
-	}
-
-	if (2 == Direction){
-		omniDrive.setVelocity(0.2, 0.2, 0);
-		if (0.2 <= x_distance && 0.28 <= y_distance){
-			Direction = 3;
-		} 
-	}
-
-	if (3 == Direction){
-		omniDrive.setVelocity(-0.2, -0.2, 0);
-		if(0.1 >= x_distance && 0.1 >= y_distance){
-			Direction = 4;
-		}
-	}
-
-	if (4 == Direction){
-		omniDrive.setVelocity(0, 0.2, 0);
-		if (0.5 <= y_distance){
-			Direction = 5;
-		}
-	}
-
-	if (5 == Direction){
-		omniDrive.setVelocity(0, -0.2, 0);
-		if (0.1 >= y_distance){
-			Direction = 6;
-		}
-	}
-	
-
-	com.processEvents();
-    rec::robotino::api2::msleep(10); 
-	}
-}
-
-
-void CrossingDriveanndRotate(){
-	if (true == DriveorRotate){
-		DriveorRotate = false;
-		rotate360();
-	}
-
-
-	if (false == DriveorRotate){
-		DriveorRotate = true;
-
-	}
-}
-
-void destroy()
-{
-	com.disconnectFromServer();
-}
-
-int main( int argc, char **argv )
-{
-	std::string hostname = "172.27.1.1";
-	if( argc > 1 )
-	{
-		hostname = argv[1];
-	}
-
-
-
-	//main program routine starts in here
-	try
-	{
-		//connect to your robotino (or try at least)
-		init( hostname );
-		//drive (this contains a while loop)
-		drive();
-		//exit
-		destroy();
-	}
-	catch( const rec::robotino::api2::RobotinoException& e )
-	{
-		std::cerr << "Com Error: " << e.what() << std::endl;
-	}
-	catch( const std::exception& e )
-	{
-		std::cerr << "Error: " << e.what() << std::endl;
-	}
-	catch( ... )
-	{
-		std::cerr << "Unknow Error" << std::endl;
-	}
-
-	rec::robotino::api2::shutdown();
-
-#ifdef WIN32
-	std::cout << "Press any key to exit..." << std::endl;
-	rec::robotino::api2::waitForKey();
-#endif
-}
-