diff --git a/CopterController/v2EchoServer.cpp b/CopterController/v2EchoServer.cpp
deleted file mode 100644
index dec30d9..0000000
--- a/CopterController/v2EchoServer.cpp
+++ /dev/null
@@ -1,180 +0,0 @@
-#include <iostream>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <unistd.h>
-#include <sys/types.h> 
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <netdb.h> 
-#include <sys/ioctl.h>
-#include "fcntl.h"
-
-#include "DSM2.h"
-
-using namespace std;
-
-// TCP vars
-#define TCP_PORT 51714
-int sockfd, newsockfd;
-char buffer[ 256 ];
-struct sockaddr_in serv_addr, cli_addr;
-socklen_t clilen;
-
-// DSM2 receiver vars
-const int RX_MAX[]    = { 900, 900, 900, 900, 900, 900 };
-const int RX_CENTER[] = { 511, 511, 511, 511, 511, 511 };
-const int RX_MIN[]    = { 122, 122, 122, 122, 122, 122 };
-DSM2 dsm;
-
-// Status vars
-bool motorsEnabled;
-int motorValues[ 4 ];
-//Quaternion q;
-
-bool setupTcp( int portNum )
-{
-    struct sockaddr_in serv_addr, cli_addr;
-    socklen_t clilen;
-
-    cout << "setting up TCP..." << endl;
-
-    sockfd = socket( AF_INET, SOCK_STREAM, 0 );
-    if( sockfd < 0 )
-    {
-        cerr << "ERROR opening socket" << endl;
-        return false;
-    }
-
-    bzero( (char*) &serv_addr, sizeof(serv_addr) );
-    serv_addr.sin_family = AF_INET;
-    serv_addr.sin_addr.s_addr = INADDR_ANY;
-    serv_addr.sin_port = htons(portNum);
-
-    cout << "binding socket to port " << portNum << endl;
-    if( bind( sockfd, (struct sockaddr*) &serv_addr, sizeof(serv_addr) ) )
-    {
-        cerr << "ERROR binding socket to port " << portNum << endl;
-        return false;
-    }
-
-    cout << "listening to socket" << endl;
-    listen( sockfd, 5 );
-    clilen = sizeof( cli_addr );
-    
-    cout << "waiting for connection" << endl;
-    newsockfd = accept( sockfd, (struct sockaddr *) &cli_addr, &clilen );
-    if( newsockfd < 0 )
-    {
-        cerr << "ERROR on accept" << endl;
-        return false;
-    }
-
-    bzero( buffer, 256 );
-    fcntl( newsockfd, F_SETFL, O_NONBLOCK );
-    
-    cout << "connection established" << endl;
-    return true;
-}
-
-void shutdown()
-{
-    cout << "shutting down..." << endl;
-
-    close( newsockfd );
-    close( sockfd );
-    cout << "sockets closed" << endl;
-
-    exit( EXIT_SUCCESS );
-}
-
-void readTcp()
-{
-    int n;  // number of bytes read
-    int carotPos;
-    n = read( newsockfd, buffer, 255 );
-    if( n > 0 )
-    {
-        motorsEnabled = false;
-        carotPos = 0;
-        while( carotPos < n )
-        {
-            if( strncmp( buffer + carotPos, "DISCONNECT", strlen("DISCONNECT") ) == 0 && strlen("DISCONNECT") + carotPos <= n ) shutdown();
-            else if( strncmp( buffer + carotPos, "D", strlen("D") ) == 0 && strlen("D") + carotPos <= n ) shutdown();
-            else if( strncmp( buffer + carotPos, "H", strlen("H") ) == 0 && strlen("H") + carotPos <= n )
-            {
-                cout << "H " << flush;
-                carotPos++;
-            }
-            else if( strncmp( buffer + carotPos, "E", strlen("E") ) == 0 && strlen("E") + carotPos <= n )
-            {
-                motorsEnabled = true;
-                cout << "E " << flush;
-                carotPos++;
-//                carotPos += strlen("E");
-            }
-            else if( strncmp( buffer + carotPos, "M", strlen("M") ) == 0 && strlen("Mxx_xxxx") + carotPos <= n )
-            {
-                motorValues[ atoi( buffer + carotPos + 1 ) ] = atoi( buffer + carotPos + 4 );
-                carotPos += strlen("Mxx_xxxx");
-            }
-            /*else if( strncmp( buffer + carotPos, "C", strlen("C") ) == 0 && strlen("Cxx_xxxx") + carotPos <= n )
-            {
-                dsm.values[ atoi( buffer + carotPos + 1 ) ] = atoi( buffer + carotPos + 4 );
-                carotPos += strlen("Cxx_xxxx");
-            }*/
-            else carotPos++;
-        }
-        cout << endl;
-        bzero( buffer, 256 );
-        if( !motorsEnabled )
-        {
-            motorValues[ 0 ] = 0;
-            motorValues[ 1 ] = 0;
-            motorValues[ 2 ] = 0;
-            motorValues[ 3 ] = 0;
-        }
-    }
-}
-
-void writeTcp()
-{
-    int i;
-    char temp[256];
-    char outBuffer[] = "H ";
-
-    if( motorsEnabled ) {
-        strcat( outBuffer, "E " );
-
-        for( i = 0; i < 4; i++ )
-        {
-            sprintf( temp, "M%02d_%04d ", i, motorValues[ i ] );
-            strcat( outBuffer, temp );
-        }
-    }
-
-    for( i = 0; i < 6; i++ )
-    {
-        sprintf( temp, "C%02d_%04d ", i, dsm.values[ i ] );
-        strcat( outBuffer, temp );
-    }
-}
-
-int main( int argc, char* argv[] )
-{
-    //if( !setupTcp( TCP_PORT ) ) exit( EXIT_FAILURE );
-    setupTcp( TCP_PORT );
-    while( true )
-    {
-        readTcp();
-        cout << "EN: " << motorsEnabled << "\tM0: " << motorValues[0] << "\tM1: " << motorValues[1] << "\tM2: " << motorValues[2] << "\tM3: " << motorValues[3] << endl;
-        writeTcp();
-
-    }
-}
-
-
-
-
-
-
diff --git a/CopterController/v2Parser.cpp b/CopterController/v2Parser.cpp
deleted file mode 100644
index a39ef49..0000000
--- a/CopterController/v2Parser.cpp
+++ /dev/null
@@ -1,136 +0,0 @@
-/*
-* v2Parser.cpp
-*/
-
-#include <iostream>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <unistd.h>
-#include <sys/types.h> 
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <netdb.h> 
-#include <sys/ioctl.h>
-#include "fcntl.h"
-
-#include "v2Parser.h"
-
-using namespace std;
-
-// No-Args constructor
-v2Parser::v2Parser()
-{}
-
-v2Parser::v2Parser( int port )
-{
-    setup( port );
-}
-
-bool v2Parser::setup( int portNum )
-{
-    struct sockaddr_in serv_addr, cli_addr;
-    socklen_t clilen;
-
-    cout << "setting up TCP..." << endl;
-
-    sockfd = socket( AF_INET, SOCK_STREAM, 0 );
-    if( sockfd < 0 )
-    {
-        cerr << "ERROR opening socket" << endl;
-        return false;
-    }
-
-    bzero( (char*) &serv_addr, sizeof(serv_addr) );
-    serv_addr.sin_family = AF_INET;
-    serv_addr.sin_addr.s_addr = INADDR_ANY;
-    serv_addr.sin_port = htons(portNum);
-
-    cout << "binding socket to port " << portNum << endl;
-    if( bind( sockfd, (struct sockaddr*) &serv_addr, sizeof(serv_addr) ) )
-    {
-        cerr << "ERROR binding socket to port " << portNum << endl;
-        return false;
-    }
-
-    cout << "listening to socket" << endl;
-    listen( sockfd, 5 );
-    clilen = sizeof( cli_addr );
-    
-    cout << "waiting for connection" << endl;
-    newsockfd = accept( sockfd, (struct sockaddr *) &cli_addr, &clilen );
-    if( newsockfd < 0 )
-    {
-        cerr << "ERROR on accept" << endl;
-        return false;
-    }
-
-    bzero( buffer, 256 );
-    fcntl( newsockfd, F_SETFL, O_NONBLOCK );
-    
-    cout << "connection established" << endl;
-    return true;
-}
-
-bool v2Parser::recieve()
-{
-    size_t n;  // number of bytes read
-    uint8_t carotPos;
-    int channel, value;
-
-    n = read( newsockfd, buffer, 255 );
-    if( n > 0 )
-    {
-        motorsEnabled = false;
-        carotPos = 0;
-        while( carotPos < n )
-        {
-            if( strncmp( buffer + carotPos, "DISCONNECT", strlen("DISCONNECT") ) == 0 && strlen("DISCONNECT") + carotPos <= n ) exit( EXIT_SUCCESS );
-            else if( strncmp( buffer + carotPos, "D", strlen("D") ) == 0 && strlen("D") + carotPos <= n ) exit( EXIT_SUCCESS );
-            else if( strncmp( buffer + carotPos, "H", strlen("H") ) == 0 && strlen("H") + carotPos <= n ) carotPos++;
-            else if( strncmp( buffer + carotPos, "E", strlen("E") ) == 0 && strlen("E") + carotPos <= n )
-            {
-                motorsEnabled = true;
-                cout << "E ";
-                carotPos += strlen("E ");
-            }
-            else if( strncmp( buffer + carotPos, "M", strlen("M") ) == 0 && strlen("Mxx_xxxx") + carotPos <= n )
-            {
-                channel = atoi( buffer + carotPos + 1 );
-                value = atoi( buffer + carotPos + 4 );
-                motorValues[ channel ] = value;
-                cout << "M" << channel << endl;
-                carotPos += strlen("Mxx_xxxx ");
-            }
-            /*else if( strncmp( buffer + carotPos, "C", strlen("C") ) == 0 && strlen("Cxx_xxxx") + carotPos <= n )
-            {
-                channel = atoi( buffer + carotPos + 1 );
-                value = atoi( buffer + carotPos + 4 );
-                motorValues[ channel ] = value;
-                cout << "C" << channel << endl;
-                carotPos += strlen("Cxx_xxxx ");
-            }*/
-            else carotPos++;
-        }
-        cout << endl;
-        return true;
-    }
-    return false;
-}
-
-void v2Parser::send()
-{
-    int i;
-    char temp[256];
-    char outBuffer[] = "H ";
-
-    if( motorsEnabled ) {
-        strcat( outBuffer, "E " );
-
-        for( i = 0; i < 4; i++ )
-        {
-            sprintf( temp, "M%2d_%4d ", i, motorValues[ i ] );
-            strcat( outBuffer, temp );
-        }
-    }
-}
\ No newline at end of file
diff --git a/CopterController/v2Parser.h b/CopterController/v2Parser.h
deleted file mode 100644
index db0c4d3..0000000
--- a/CopterController/v2Parser.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
-* v2Parser.h
-*/
-
-#include <netinet/in.h>
-#include <sys/socket.h>
-#include "helper_3dmath.h"
-
-#ifndef V2PARSER_H
-#define V2PARSER_H
-
-class v2Parser
-{
-public:
-    v2Parser();
-    v2Parser( int port);
-    bool setup( int portNum );
-    bool recieve();
-    void send();
-
-    bool motorsEnabled;
-    int motorValues[ 4 ];
-    int controlValues[ 6 ];
-    Quaternion q;
-private:
-    int sockfd, newsockfd;
-    char buffer[256];
-    struct sockaddr_in serv_addr, cli_addr;
-    socklen_t clilen;
-};
-
-#endif
\ No newline at end of file
diff --git a/CopterController/v2main.cpp b/CopterController/v2main.cpp
deleted file mode 100644
index c96d80a..0000000
--- a/CopterController/v2main.cpp
+++ /dev/null
@@ -1,215 +0,0 @@
-/*
-* v2main.cpp
-*/
-
-#include <iostream>
-#include <cstdlib>
-#include <stdint.h>
-#include "v2Parser.h"
-#include "PCA9685.h"
-#include "DSM2.h"
-#include "PID.h"
-#include "MPU6050_6Axis_MotionApps20.h"
-#include "wiringPi.h"
-
-using namespace std;
-
-#define DEFAULT_TCP_PORT 51717
-
-#define MOTOR_OFF 200
-#define MOTOR_MIN 220
-#define MOTOR_MAX 600
-
-double pitchP   = 2;
-double pitchI   = 0;
-double pitchD   = 0;
-double rollP    = 2;
-double rollI    = 0;
-double rollD    = 0;
-double yawP     = 0.0001;
-double yawI     = 0;
-double yawD     = 0;
-
-PCA9685 pca;
-v2Parser tcp;
-DSM2 dsm;
-MPU6050 mpu;
-
-PID pitchPID;
-PID rollPID;
-PID yawPID;
-
-VectorFloat gravity;
-int fifoPacketSize;
-
-void setAllMotorsOff()
-{
-    int i;
-    for( i = 0; i < 16; i++ )
-        pca.setPwm( i, 0, MOTOR_OFF );
-}
-
-void setup( int tcpPort )
-{
-    cout << "\nsetting up PCA9685 (motor controller)..." << endl;
-        pca = PCA9685( 0x40 );
-        pca.setFrequency( 60 );
-        setAllMotorsOff();
-        delay( 250 );
-        setAllMotorsOff();
-        cout << "motors set to " << MOTOR_OFF << " (OFF)" << endl;
-    cout << "PCA9685 set up\n" << endl;
-
-    cout << "setting up TCP link..." << endl;
-        tcp = v2Parser( tcpPort );
-    cout << "TCP set up" << endl;
-
-    /*cout << "setting up RC receiver..." << endl;
-        dsm = DSM2();
-        //dsm.values = tcp.controlValues;
-    cout << "RC receiver set up" << endl;*/
-
-    cout << "\nsetting up MPU6050..." << endl;
-    cout << "initializing MPU6050..." << endl;
-    mpu.initialize();
-    cout << "testing MPU6050 connection..." << flush;
-    if( mpu.testConnection() )
-    {
-        cout << "SUCCESS" << endl;
-    }
-    else
-    {
-        cout << "FAILURE" << endl;
-        exit( EXIT_FAILURE );
-    }
-    cout << "initializing DMP..." << flush;
-    if( mpu.dmpInitialize() == 0 )
-    {
-        cout << "SUCCESS" << endl;
-        cout << "Enabling DMP..." << endl;
-        mpu.setDMPEnabled( true );
-        fifoPacketSize = mpu.dmpGetFIFOPacketSize();
-    }
-    else
-    {
-        cout << "FAILURE" << endl;
-        exit( EXIT_FAILURE );
-    }
-    cout << "MPU6050 set up" << endl;
-
-    cout << "\nsetting up PID..." << endl;
-        pitchPID = PID( pitchP, pitchI, pitchD );
-        rollPID = PID( rollP, rollI, rollD );
-        yawPID = PID( yawP, yawI, yawD );
-    cout << "PID set up\n" << endl;
-
-    atexit( setAllMotorsOff );
-}
-
-bool updateMpu()
-{
-    int fifoCount;
-    uint8_t fifoBuffer[64];
-    fifoCount = mpu.getFIFOCount();
-    if( fifoCount == 1024 )
-    {
-        cout << "FIFO overflow" << endl;
-    }
-    else if( fifoCount >= 42 )
-    {
-        while( fifoCount >= 84 )
-        {
-            mpu.getFIFOBytes( fifoBuffer, fifoPacketSize );
-            fifoCount = mpu.getFIFOCount();
-        }
-
-        mpu.getFIFOBytes( fifoBuffer, fifoPacketSize );
-        mpu.dmpGetQuaternion( &(tcp.q), fifoBuffer );
-        mpu.dmpGetGravity( &gravity, &(tcp.q) );
-
-        return true;
-    }
-    return false;
-}
-
-void constrainValue( int* in, int low, int high )
-{
-    if( *in < low )
-    {
-        *in = low;
-    }
-    else if( *in > high )
-    {
-        *in = high;
-    }
-}
-
-int main( int argc, char* argv[] )
-{
-    float pitchAngle;
-    float rollAngle;
-    int16_t yawRate;
-
-    float pitchMod = 1;
-    float rollMod = 1;
-    float yawMod = 1;
-
-    setup( DEFAULT_TCP_PORT );
-
-    cout << "starting loop" << endl;
-    while( true )
-    {
-        dsm.update();
-        cout << "dsm rx: " << dsm.values[0] << "\t" << dsm.values[1] << "\t" << dsm.values[2] << "\t" << dsm.values[3] << "\t" << dsm.values[4] << "\t" << dsm.values[5] << "\t" << endl;
-        //tcp.send();
-        //cout << "tcp send done" << endl;
-        //cout<< tcp.recieve() <<endl;
-        //cout << "tcp receive done" << endl;
-        /*if( updateMpu() )
-        {
-            pitchAngle = atan( gravity.x / sqrt( gravity.y * gravity.y + gravity.z * gravity.z) );
-            rollAngle = atan( gravity.y / sqrt( gravity.x * gravity.x + gravity.z * gravity.z ) );
-            yawRate = mpu.getRotationZ();
-            cout << "pitch: " << pitchAngle << "\troll: " << rollAngle << "\tyaw rate: " << yawRate << endl;
-
-            pitchMod = pitchPID.update( pitchAngle, 0 );
-            rollMod = rollPID.update( rollAngle, 0 );
-            yawMod = yawPID.update( yawRate, 0 );
-
-            if( tcp.motorsEnabled )
-            {
-                tcp.motorValues[ 0 ] = (int)( ( 1 - pitchMod ) * ( 1 - rollMod ) * ( 1 + yawMod ) * tcp.controlValues[0] );
-                tcp.motorValues[ 1 ] = (int)( ( 1 + pitchMod ) * ( 1 - rollMod ) * ( 1 - yawMod ) * tcp.controlValues[0] );
-                tcp.motorValues[ 2 ] = (int)( ( 1 - pitchMod ) * ( 1 + rollMod ) * ( 1 - yawMod ) * tcp.controlValues[0] );
-                tcp.motorValues[ 3 ] = (int)( ( 1 + pitchMod ) * ( 1 + rollMod ) * ( 1 + yawMod ) * tcp.controlValues[0] );
-
-                constrainValue( &(tcp.motorValues[ 0 ]), MOTOR_MIN, MOTOR_MAX );
-                constrainValue( &(tcp.motorValues[ 1 ]), MOTOR_MIN, MOTOR_MAX );
-                constrainValue( &(tcp.motorValues[ 2 ]), MOTOR_MIN, MOTOR_MAX );
-                constrainValue( &(tcp.motorValues[ 3 ]), MOTOR_MIN, MOTOR_MAX );
-
-                pca.setPwm( 0, 0, tcp.motorValues[ 0 ] );
-                pca.setPwm( 1, 0, tcp.motorValues[ 1 ] );
-                pca.setPwm( 2, 0, tcp.motorValues[ 2 ] );
-                pca.setPwm( 3, 0, tcp.motorValues[ 3 ] );
-            }
-            else
-            {
-                setAllMotorsOff();
-            }
-            cout << "MPU data read" << endl;
-        }
-        else
-        {
-            cout << "no MPU data avail" << endl;
-        }*/
-    }
-}
-
-
-
-
-
-
-
-