diff --git a/StellaDark/NXT_sensors.ino b/StellaDark/StellaDark/NXT_sensors.ino
similarity index 100%
rename from StellaDark/NXT_sensors.ino
rename to StellaDark/StellaDark/NXT_sensors.ino
diff --git a/StellaDark/StellaDark.ino b/StellaDark/StellaDark/StellaDark.ino
similarity index 100%
rename from StellaDark/StellaDark.ino
rename to StellaDark/StellaDark/StellaDark.ino
diff --git a/StellaDark/line_sensors.ino b/StellaDark/StellaDark/line_sensors.ino
similarity index 100%
rename from StellaDark/line_sensors.ino
rename to StellaDark/StellaDark/line_sensors.ino
diff --git a/StellaDark/movements.ino b/StellaDark/StellaDark/movements.ino
similarity index 100%
rename from StellaDark/movements.ino
rename to StellaDark/StellaDark/movements.ino
diff --git a/StellaDark/test.ino b/StellaDark/StellaDark/test.ino
similarity index 100%
rename from StellaDark/test.ino
rename to StellaDark/StellaDark/test.ino
diff --git a/StellaDark/line_sensors_procesing/line_sensors_procesing.ino b/StellaDark/line_sensors_procesing/line_sensors_procesing.ino
new file mode 100644
index 0000000..535d920
--- /dev/null
+++ b/StellaDark/line_sensors_procesing/line_sensors_procesing.ino
@@ -0,0 +1,196 @@
+/**
+ * version 0.1
+ * made by xlc team 2019
+*/
+#include <Wire.h>
+#include <Adafruit_MCP23017.h>
+
+Adafruit_MCP23017 mcp_1;
+Adafruit_MCP23017 mcp_2;
+Adafruit_MCP23017 mcp_3;
+uint16_t values_1;
+uint16_t values_d_1;
+uint16_t values_2;
+uint16_t values_d_2;
+uint16_t values_3;
+uint16_t values_d_3;
+uint8_t index_sensor;
+uint8_t detected;
+float x_result;
+float y_result;
+const float x_for_angle[48] {
+  0,
+  0.1305,
+  0.2588,
+  0.3827,
+  0.5,
+  0.6088,
+  0.7071,
+  0.7934,
+  0.866,
+  0.9239,
+  0.9659,
+  0.9914,
+  1,
+  0.9914,
+  0.9659,
+  0.9239,
+  0.866,
+  0.7934,
+  0.7071,
+  0.6088,
+  0.5,
+  0.3827,
+  0.2588,
+  0.1305,
+  0,
+  -0.1305,
+  -0.2588,
+  -0.3827,
+  -0.5,
+  -0.6088,
+  -0.7071,
+  -0.7934,
+  -0.866,
+  -0.9239,
+  -0.9659,
+  -0.9914,
+  -1,
+  -0.9914,
+  -0.9659,
+  -0.9239,
+  -0.866,
+  -0.7934,
+  -0.7071,
+  -0.6088,
+  -0.5,
+  -0.3827,
+  -0.2588,
+  -0.1305
+};
+const float y_for_angle[48] {
+  1,
+  0.9914,
+  0.9659,
+  0.9239,
+  0.866,
+  0.7934,
+  0.7071,
+  0.6088,
+  0.5,
+  0.3827,
+  0.2588,
+  0.1305,
+  0,
+  -0.1305,
+  -0.2588,
+  -0.3827,
+  -0.5,
+  -0.6088,
+  -0.7071,
+  -0.7934,
+  -0.866,
+  -0.9239,
+  -0.9659,
+  -0.9914,
+  -1,
+  -0.9914,
+  -0.9659,
+  -0.9239,
+  -0.866,
+  -0.7934,
+  -0.7071,
+  -0.6088,
+  -0.5,
+  -0.3827,
+  -0.2588,
+  -0.1305,
+  0,
+  0.1305,
+  0.2588,
+  0.3827,
+  0.5,
+  0.6088,
+  0.7071,
+  0.7934,
+  0.866,
+  0.9239,
+  0.9659,
+  0.9914
+};
+int radToDeg(float rad) { 
+  return rad*(180/3.14);
+  }
+int vectorAngle(int x, int y) {
+  if (x == 0)
+    return (y > 0) ? 90 : (y == 0) ? 0 : 270;
+  else if (y == 0)
+    return (x >= 0) ? 0 : 180;
+  int ret = radToDeg(atanf((float)y / x));
+  if (x < 0 && y < 0)
+    ret = 180 + ret;
+  else if (x < 0)
+    ret = 180 + ret;
+  else if (y < 0)
+    ret = 270 + (90 + ret);
+  return ret;
+}
+void setup()
+{
+  Serial.begin(115200);
+  Wire.begin();
+  mcp_1.begin(0x20);
+  mcp_2.begin(0x21);
+  mcp_3.begin(0x22);
+  for (uint8_t i = 0; i < 16; i++) {
+    mcp_1.pinMode(i, INPUT);
+    mcp_1.pullUp(i, 1);
+    mcp_2.pinMode(i, INPUT);
+    mcp_2.pullUp(i, 1);
+    mcp_3.pinMode(i, INPUT);
+    mcp_3.pullUp(i, 1);
+  }
+}
+
+void loop()
+{
+  x_result = 0;
+  y_result = 0;
+  index_sensor = 0;
+  values_1 = mcp_1.readGPIOAB();
+  values_2 = mcp_2.readGPIOAB();
+  values_3 = mcp_3.readGPIOAB();
+  values_1 |= values_1 >> 1;
+  values_2 |= values_2 >> 1;
+  values_3 |= values_3 >> 1;
+  for (uint16_t mask = 0b1; mask != 0b0; mask <<= 1) {
+    if ((values_1 & mask) > 0) {
+      x_result += x_for_angle[index_sensor];
+      y_result += y_for_angle[index_sensor];
+      detected++;
+    }
+    index_sensor++;
+  }
+  for (uint16_t mask = 0b1; mask != 0b0; mask <<= 1) {
+    if ((values_2 & mask) > 0) {
+      x_result += x_for_angle[index_sensor];
+      y_result += y_for_angle[index_sensor];
+      detected++;
+    }
+    index_sensor++;
+  }
+  for (uint16_t mask = 0b1; mask != 0b0; mask <<= 1) {
+    if ((values_3 & mask) > 0) {
+      x_result += x_for_angle[index_sensor];
+      y_result += y_for_angle[index_sensor];
+      detected++;
+    }
+    index_sensor++;
+  }
+  if (detected > 2) { //filter
+    Serial.println(vectorAngle(x_result, y_result));//print angle 0-360
+  }
+  else{
+     Serial.println(~0);    //no line
+    }
+}