diff --git a/car_srv/src/Car.js b/car_srv/src/Car.js
new file mode 100644
index 00000000000..396e8b63480
--- /dev/null
+++ b/car_srv/src/Car.js
@@ -0,0 +1,152 @@
+/**
+ * Created by user on 7/21/16.
+ */
+
+const fs = require("fs");
+const main = require("./main.js");
+const directionClass = main.protoConstructorControl.DirectionRequest;
+
+function Car(uid) {
+    this.uid = uid;
+    this.x = 0;
+    this.y = 0;
+    this.angle = 0;
+    this.velocityMove = 0.1;
+    this.velocityRotation = 10;
+    this.paused = false;
+    this.transportError = false;
+    this.currentDirection = 0;
+    this.executeTimeLeft = 0;
+    this.moveList = [];//object of direction and time to execute this direction. field: direction:byte, executeTime:double (seconds)
+    this.nextMoveListIndex = 0;
+
+    this.reset = reset;
+    this.pause = pause;
+    this.move = move;
+    this.setDirection = setDirection;
+    this.resume = resume;
+    this.getDirectionByte = getDirectionByte;
+    this.setPath = setPath;
+
+    return this;
+}
+function reset() {
+    this.currentDirection = 0;
+    this.executeTimeLeft = 0;
+    this.moveList = [];
+    this.nextMoveListIndex = 0;
+}
+
+function pause() {
+    this.paused = true;
+}
+
+function resume() {
+    this.paused = false;
+}
+
+function move(delta) {
+    var deltaSeconds = delta / 1000;
+    // console.log("x=" + this.x + " y=" + this.y + " angle=" + this.angle);
+    if (this.paused) {
+        return;
+    }
+    if (this.executeTimeLeft > 0) {
+        this.executeTimeLeft -= deltaSeconds;
+        if (this.currentDirection == this.getDirectionByte(directionClass.Command.left)) {
+            this.angle += deltaSeconds * this.velocityRotation;
+        } else if (this.currentDirection == this.getDirectionByte(directionClass.Command.right)) {
+            this.angle -= deltaSeconds * this.velocityRotation;
+        } else if (this.currentDirection == this.getDirectionByte(directionClass.Command.forward)) {
+            this.x += this.velocityMove * deltaSeconds * Math.cos(this.angle * Math.PI / 180);
+            this.y += this.velocityMove * deltaSeconds * Math.sin(this.angle * Math.PI / 180);
+        }
+    } else {
+        if (this.nextMoveListIndex == this.moveList.length) {
+            //this was last move point
+            this.setDirection(this.getDirectionByte(directionClass.Command.stop), null)
+        } else {
+            var currentMove = this.moveList[this.nextMoveListIndex];
+            this.currentDirection = currentMove.direction;
+            this.executeTimeLeft = currentMove.executeTime;
+            this.setDirection(this.currentDirection, null);
+            this.nextMoveListIndex++;
+        }
+    }
+}
+
+//args wayPointsList contains object of points. field {distance, angle_delta}. this fun parse this to move list with field direction and move time with using velocity of move and rotation
+function setPath(wayPointsList) {
+    this.reset();
+    for (var i = 0; i < wayPointsList.length; i++) {
+        var currentPoint = wayPointsList[i];
+        var angle = currentPoint.angle_delta;
+        var distance = currentPoint.distance;
+        if (angle != 0) {
+            //need rotation. check direction left or right
+            if (angle >= 180) {
+                this.moveList.push({
+                    "direction": getDirectionByte(directionClass.Command.right),
+                    "executeTime": (angle / this.velocityRotation)
+                });
+            } else {
+                this.moveList.push({
+                    "direction": getDirectionByte(directionClass.Command.left),
+                    "executeTime": (angle / this.velocityRotation)
+                });
+            }
+        }
+        this.moveList.push({
+            "direction": getDirectionByte(directionClass.Command.forward),
+            "executeTime": (distance / this.velocityMove)
+        });
+    }
+}
+
+function setDirection(directionByte, callBack) {
+    fs.appendFile(main.transportFilePath, directionByte, "binary", function (error) {
+        var code = 0;
+        var errorMsg = "";
+        console.log(error);
+        if (error) {
+            errorMsg = error;
+        }
+        if (callBack != null) {
+            callBack(code, errorMsg)
+        }
+    });
+}
+
+function getDirectionByte(command) {
+    resultByte = -1;
+    switch (command) {
+        case directionClass.Command.stop:
+        {
+            resultByte = "0";
+            break;
+        }
+        case directionClass.Command.forward:
+        {
+            resultByte = "1";
+            break;
+        }
+        case directionClass.Command.backward:
+        {
+            resultByte = "2";
+            break;
+        }
+        case directionClass.Command.right:
+        {
+            resultByte = "3";
+            break;
+        }
+        case directionClass.Command.left:
+        {
+            resultByte = "4";
+            break;
+        }
+    }
+    return resultByte
+}
+
+exports.getCar = Car;
\ No newline at end of file
diff --git a/car_srv/src/handlers.js b/car_srv/src/handlers.js
deleted file mode 100644
index efd48acd99e..00000000000
--- a/car_srv/src/handlers.js
+++ /dev/null
@@ -1,100 +0,0 @@
-/**
- * Created by user on 7/11/16.
- */
-const fs = require("fs");
-const main = require("./main.js");
-const exec = require('child_process').exec;
-
-function loadBin(httpContent, response) {
-    var uploadClass = main.protoConstructorCarkot.Upload;
-    var uploadObject = uploadClass.decode(httpContent);
-    fs.writeFile(main.binFilePath, uploadObject.data.buffer, "binary", function (error) {
-        var uploadResultClass = main.protoConstructorCarkot.UploadResult;
-        var code = 0;
-        var stdErr = "";
-        if (error) {
-            code = 2;
-            stdErr = error.toString();
-        } else {
-            code = 0;
-            var shCommand = main.commandPrefix + " " + main.binFilePath + " " + uploadObject.base;
-            exec(shCommand, function (error, stdout, stderr) {
-                if (error) {
-                    code = 1;
-                    console.error(error);
-                }
-
-                var resultObject = new uploadResultClass({
-                    "stdOut": stdout.toString(),
-                    "resultCode": code,
-                    "stdErr": (stderr.toString() + "\n error:" + error)
-                });
-                var byteBuffer = resultObject.encode();
-                var byteArray = [];
-                for (var i = 0; i < byteBuffer.limit; i++) {
-                    byteArray.push(byteBuffer.buffer[i]);
-                }
-                response.writeHead(200, {"Content-Type": "text/plain", "Content-length": byteArray.length});
-                response.write(new Buffer(byteArray));
-                response.end();
-                console.log(shCommand);
-            });
-        }
-
-    });
-}
-
-function other(httpContent, response) {
-    console.log("other");
-    response.writeHead(200, {"Content-Type": "text/plain"});
-    response.end();
-}
-
-//контроль машинкой, как с пульта управления
-function control(httpContent, response) {
-    var directionClass = main.protoConstructorControl.Direction;
-    var directionObject = directionClass.decode(httpContent);
-    var resultByte;
-    switch (directionObject.command) {
-        case directionClass.Command.stop :
-        {
-            resultByte = "0";
-            break;
-        }
-        case directionClass.Command.forward :
-        {
-            resultByte = "1";
-            break;
-        }
-
-        case directionClass.Command.backward :
-        {
-            resultByte = "2";
-            break;
-        }
-        case directionClass.Command.right :
-        {
-            resultByte = "3";
-            break;
-        }
-        case directionClass.Command.left :
-        {
-            resultByte = "4";
-            break;
-        }
-    }
-    console.log("byte for car: " + resultByte);
-    fs.appendFile(main.transportFilePath, resultByte, "binary", function (error) {
-        if (error) {
-            console.log(error);
-        }
-        //todo ещё нужно считывать ответ от контроллера и анализировать его (0 или 1) и отправлять
-        response.writeHead(200, {"Content-Type": "text/plain"});
-        response.write(new Buffer([0]));
-        response.end();
-    });
-}
-
-exports.loadBin = loadBin;
-exports.other = other;
-exports.control = control;
diff --git a/car_srv/src/handlers/controlHandler.js b/car_srv/src/handlers/controlHandler.js
new file mode 100644
index 00000000000..4ac6deaa140
--- /dev/null
+++ b/car_srv/src/handlers/controlHandler.js
@@ -0,0 +1,40 @@
+/**
+ * Created by user on 7/21/16.
+ */
+
+const main = require("./../main.js");
+
+function handle(httpContent, response) {
+    var directionClass = main.protoConstructorControl.DirectionRequest;
+    var directionObject = directionClass.decode(httpContent);
+    var resultByte = main.thisCar.getDirectionByte(directionObject.command);
+    main.thisCar.reset();
+    main.thisCar.moveList.push({
+        "direction": resultByte,
+        "executeTime": 100000
+    });
+    console.log(resultByte);
+    var directionResponse = new main.protoConstructorControl.DirectionResponse({
+        "code": 0,
+        errorMsg: ""
+    });
+    var byteBuffer = directionResponse.encode();
+    var byteArray = [];
+    for (var i = 0; i < byteBuffer.limit; i++) {
+        byteArray.push(byteBuffer.buffer[i]);
+    }
+    response.writeHead(200, {"Content-Type": "text/plain"});
+    response.write(new Buffer(byteArray));
+    response.end();
+    // main.thisCar.setDirection(resultByte, function (code, errorMsg) {
+    //     var directionResponse = new main.protoConstructorControl.DirectionResponse({
+    //         "code": code,
+    //         errorMsg: errorMsg
+    //     });
+    //     response.writeHead(200, {"Content-Type": "text/plain"});
+    //     response.write(directionResponse.encode().buffer);
+    //     response.end();
+    // });
+}
+
+exports.handler = handle;
\ No newline at end of file
diff --git a/car_srv/src/handlers/loadBinHandler.js b/car_srv/src/handlers/loadBinHandler.js
new file mode 100644
index 00000000000..3fa6e30602a
--- /dev/null
+++ b/car_srv/src/handlers/loadBinHandler.js
@@ -0,0 +1,48 @@
+/**
+ * Created by user on 7/21/16.
+ */
+
+const fs = require("fs");
+const main = require("./../main.js");
+const exec = require('child_process').exec;
+
+function handle(httpContent, response) {
+    var uploadClass = main.protoConstructorCarkot.Upload;
+    var uploadObject = uploadClass.decode(httpContent);
+    fs.writeFile(main.binFilePath, uploadObject.data.buffer, "binary", function (error) {
+        var uploadResultClass = main.protoConstructorCarkot.UploadResult;
+        var code = 0;
+        var stdErr = "";
+        if (error) {
+            code = 2;
+            stdErr = error.toString();
+        } else {
+            code = 0;
+            var shCommand = main.commandPrefix + " " + main.binFilePath + " " + uploadObject.base;
+            exec(shCommand, function (error, stdout, stderr) {
+                if (error) {
+                    code = 1;
+                    console.error(error);
+                }
+
+                var resultObject = new uploadResultClass({
+                    "stdOut": stdout.toString(),
+                    "resultCode": code,
+                    "stdErr": (stderr.toString() + "\n error:" + error)
+                });
+                var byteBuffer = resultObject.encode();
+                var byteArray = [];
+                for (var i = 0; i < byteBuffer.limit; i++) {
+                    byteArray.push(byteBuffer.buffer[i]);
+                }
+                response.writeHead(200, {"Content-Type": "text/plain", "Content-length": byteArray.length});
+                response.write(new Buffer(byteArray));
+                response.end();
+                console.log(shCommand);
+            });
+        }
+
+    });
+}
+
+exports.handler = handle;
\ No newline at end of file
diff --git a/car_srv/src/handlers/setRouteHandler.js b/car_srv/src/handlers/setRouteHandler.js
new file mode 100644
index 00000000000..e12d025c2a3
--- /dev/null
+++ b/car_srv/src/handlers/setRouteHandler.js
@@ -0,0 +1,13 @@
+/**
+ * Created by user on 7/21/16.
+ */
+
+const main = require("./../main.js");
+
+function handle(httpContent, response) {
+    var routeClass = main.protoConstructorRoute.RouteRequest;
+    var routeObject = routeClass.decode(httpContent);
+    console.log(routeObject)//todo сделать
+}
+
+exports.handler = handle;
\ No newline at end of file
diff --git a/car_srv/src/main.js b/car_srv/src/main.js
index 98432e0567f..f6a39e7836d 100644
--- a/car_srv/src/main.js
+++ b/car_srv/src/main.js
@@ -1,5 +1,5 @@
 /**
- * Created by user on 7/11/16.
+ * Created by maxim zaitsev on 7/11/16.
  */
 
 const server = require("./server.js");
@@ -9,11 +9,12 @@ const protoBuf = require("protobufjs");
 const fs = require("fs");
 const udev = require("udev");
 
+//parsing command line args
 commander
     .version('1.0.0')
     .option('-p, --proto [path]', 'path to dir with proto files. need here carkot.proto and route.proto. default ./proto/')
-    .option('-f, --flash [path]', 'path to save bin file with name f.bin. default ./')
-    .option('-s, --serial [path]', 'path to file that represents MCU serial port default ./serial')
+    .option('-f, --flash [path]', 'path to save bin file with name flash.bin. default ./')
+    // .option('-s, --serial [path]', 'path to file that represents MCU serial port default ./serial')//dont need more. use path from udev monitor
     .parse(process.argv);
 
 //add slash to end of paths if need
@@ -28,30 +29,38 @@ if (commander.flash) {
     }
 }
 
-const builderCarkot = protoBuf.loadProtoFile(commander.protopath ? commander.protopath + "carkot.proto" : "./proto/carkot.proto");
-const builderControl = protoBuf.loadProtoFile(commander.protopath ? commander.protopath + "route.proto" : "./proto/route.proto");
+//classes for protobuf decode/encode
+const builderCarkot = protoBuf.loadProtoFile((commander.protopath ? commander.protopath : "./proto/") + "carkot.proto");
+const builderControl = protoBuf.loadProtoFile((commander.protopath ? commander.protopath : "./proto/" + "direction.proto"));
+const builderRoute = protoBuf.loadProtoFile((commander.protopath ? commander.protopath : "./proto/" + "route.proto"));
 
 var executeShell = "./st-flash";
 exports.protoConstructorCarkot = builderCarkot.build("carkot");
 exports.protoConstructorControl = builderControl.build("carkot");
+exports.protoConstructorRoute = builderRoute.build("carkot");
 exports.commandPrefix = executeShell + " write";
-exports.binFilePath = (commander.flash ? commander.flash : "./") + "st-flash";
-exports.transportFilePath = (commander.serial ? commander.serial : "./serial");
+exports.binFilePath = (commander.flash ? commander.flash : "./") + "flash.bin";
+exports.transportFilePath = "";
 
-var handlers = require("./handlers.js");
+//init this car
+var uid = "";//todo connect to srv
+var car = require("./Car").getCar(uid);
+exports.thisCar = car;
+
+//handlers for client requests
 var handle = {};
-handle["/"] = handlers.other;
-handle["/loadBin"] = handlers.loadBin;
-handle["/control"] = handlers.control;
-handle["/other"] = handlers.other;
-
-//add handlers to events from udev monitor (add device and remove device)
+handle["/loadBin"] = require("./handlers/loadBinHandler").handler;
+handle["/control"] = require("./handlers/controlHandler").handler;
+handle["/route"] = require("./handlers/setRouteHandler").handler;
+exports.transportFilePath = "/dev/ttyACM0";
+//add event handlers from udev monitor (add device and remove device)
 const monitor = udev.monitor();
 monitor.on('add', function (device) {
     if (device.ID_VENDOR_ID == "0483" && device.ID_MODEL_ID == "5740" && device.SUBSYSTEM == "tty") {
         //mc connected
-        console.log("connected");
-        console.log("file=" + device.DEVNAME)
+        console.log("connected. transport file is " + device.DEVNAME);
+        exports.transportFilePath = device.DEVNAME;
+        console.log(device.DEVNAME);
     }
 });
 monitor.on('remove', function (device) {
@@ -61,6 +70,7 @@ monitor.on('remove', function (device) {
     }
 });
 
+//check of exists st-flash util
 if (typeof fs.access == "function") {
     fs.access(executeShell, fs.F_OK, function (error) {
         if (!error) {
@@ -73,4 +83,10 @@ if (typeof fs.access == "function") {
     console.log("warning: you have old version of node.js. Check existence of the file st-flash on root of server dir yourself");
     server.start(router.route, handle);
 }
-// server.start(router.route, handle);
+
+//move car
+var delta = 100;
+setInterval(moveCar, delta);
+function moveCar() {
+    car.move(delta)
+}
\ No newline at end of file
diff --git a/car_srv/src/package.json b/car_srv/src/package.json
index 38ecf0cb442..f0ed83361da 100644
--- a/car_srv/src/package.json
+++ b/car_srv/src/package.json
@@ -9,7 +9,8 @@
   },
   "author": "maxim",
   "license": "ISC",
-  "dependencies": {
+  "devDependencies": {
+    "udev": "^0.3.0",
     "commander": "^2.9.0",
     "protobufjs": "^5.0.1"
   }
diff --git a/car_srv/src/proto/connect.proto b/car_srv/src/proto/connect.proto
new file mode 100644
index 00000000000..49df5b9aaa9
--- /dev/null
+++ b/car_srv/src/proto/connect.proto
@@ -0,0 +1,17 @@
+syntax = "proto3";
+package carkot;
+
+option java_package = "proto.car";
+option java_outer_classname = "Connect";
+
+message ConnectionRequest {
+    string ip = 1;
+    int32 port = 2;
+}
+
+message ConnectionResponse {
+    int32 uid = 1;
+    int32 code = 2;
+    string errorMsg = 3;
+    
+}
diff --git a/car_srv/src/proto/direction.proto b/car_srv/src/proto/direction.proto
new file mode 100644
index 00000000000..ca614a16ea6
--- /dev/null
+++ b/car_srv/src/proto/direction.proto
@@ -0,0 +1,21 @@
+syntax = "proto3";
+package carkot;
+
+option java_package = "proto.car";
+option java_outer_classname = "Direction";
+
+message DirectionRequest {
+    enum Command {
+        stop = 0;
+        forward = 1;
+        backward = 2;
+        left = 3;
+        right = 4;
+    }
+    Command command = 1;
+}
+
+message DirectionResponse {
+    int32 code = 1;
+    string errorMsg = 2;
+}
diff --git a/car_srv/src/proto/location.proto b/car_srv/src/proto/location.proto
new file mode 100644
index 00000000000..0d477c8217e
--- /dev/null
+++ b/car_srv/src/proto/location.proto
@@ -0,0 +1,18 @@
+syntax = "proto3";
+package carkot;
+
+option java_package = "proto.car";
+option java_outer_classname = "Location";
+
+message LocationResponse {
+
+    LocationData locationResponseData = 1;
+    int32 code = 2;
+    string errorMsg = 3;
+
+    message LocationData {
+        double x = 1;
+        double y = 2;
+        double angle = 3;
+    }
+}
diff --git a/car_srv/src/proto/route.proto b/car_srv/src/proto/route.proto
index 50ac625c415..864845be2f0 100644
--- a/car_srv/src/proto/route.proto
+++ b/car_srv/src/proto/route.proto
@@ -2,10 +2,10 @@ syntax = "proto3";
 package carkot;
 
 option java_package = "proto.car";
-option java_outer_classname = "RouteP";
+option java_outer_classname = "Route";
 
-message Route {
-   repeated WayPoint way_points = 1; 
+message RouteRequest {
+    repeated WayPoint way_points = 1; 
 
     message WayPoint {
         double distance = 2;
@@ -13,13 +13,7 @@ message Route {
     }
 }
 
-message Direction {
-    enum Command {
-        stop = 0;
-        forward = 1;
-        backward = 2;
-        left = 3;
-        right = 4;
-    }
-    Command command = 1;
+message RouteResponse {
+    int32 code = 1;
+    string errorMsg = 2;
 }
diff --git a/car_srv/src/proto/route_done.proto b/car_srv/src/proto/route_done.proto
new file mode 100644
index 00000000000..5fe75d274f2
--- /dev/null
+++ b/car_srv/src/proto/route_done.proto
@@ -0,0 +1,10 @@
+syntax = "proto3";
+package carkot;
+
+option java_package = "proto.car";
+option java_outer_classname = "RouteDone";
+
+message RouteDoneResponse {
+    int32 code = 1;
+    string errorMsg = 2;
+}