diff --git a/car_fmw/src/Control.kt b/car_fmw/src/Control.kt
index 57c4ecd3610..584240a61b5 100644
--- a/car_fmw/src/Control.kt
+++ b/car_fmw/src/Control.kt
@@ -73,7 +73,6 @@ object Control {
         val attempts = request.attempts
         val distances = IntArray(size)
 
-
         var i = 0
         while (i < size) {
             distances[i] = sonarMeasure(request.smoothing, attempts[i], angles[i], request.windowSize)
@@ -89,11 +88,9 @@ object Control {
         var i = 0
         while (i < attempts) {
             data[i] = Sonar.getSmoothDistance(angle, windowSize)
-
             if (smoothing.id == SonarRequest.Smoothing.NONE.id && data[i] != -1) {
                 return data[i]
             }
-
             i++
         }
 
diff --git a/server/.idea/compiler.xml b/server/.idea/compiler.xml
index 96cc43efa6a..4dfdaaf6193 100644
--- a/server/.idea/compiler.xml
+++ b/server/.idea/compiler.xml
@@ -18,5 +18,9 @@
         <processorPath useClasspath="true" />
       </profile>
     </annotationProcessing>
+    <bytecodeTargetLevel>
+      <module name="server_main" target="1.5" />
+      <module name="server_test" target="1.5" />
+    </bytecodeTargetLevel>
   </component>
 </project>
\ No newline at end of file
diff --git a/server/.idea/gradle.xml b/server/.idea/gradle.xml
index 2d5721d43e3..05e52194ddf 100644
--- a/server/.idea/gradle.xml
+++ b/server/.idea/gradle.xml
@@ -11,7 +11,7 @@
             <option value="$PROJECT_DIR$" />
           </set>
         </option>
-        <option name="resolveModulePerSourceSet" value="false" />
+        <option name="useAutoImport" value="true" />
       </GradleProjectSettings>
     </option>
   </component>
diff --git a/server/.idea/misc.xml b/server/.idea/misc.xml
index ee2a58cb493..20cd4f70c34 100644
--- a/server/.idea/misc.xml
+++ b/server/.idea/misc.xml
@@ -13,8 +13,8 @@
     <ConfirmationsSetting value="0" id="Add" />
     <ConfirmationsSetting value="0" id="Remove" />
   </component>
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_1_8" default="true" assert-keyword="true" jdk-15="true" project-jdk-name="1.8" project-jdk-type="JavaSDK">
-    <output url="file://$PROJECT_DIR$/out" />
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_1_5" default="true" assert-keyword="true" jdk-15="true" project-jdk-name="1.8" project-jdk-type="JavaSDK">
+    <output url="file://$PROJECT_DIR$/build/classes" />
   </component>
   <component name="masterDetails">
     <states>
diff --git a/server/.idea/modules.xml b/server/.idea/modules.xml
index 5f7ca56962f..7737f17b242 100644
--- a/server/.idea/modules.xml
+++ b/server/.idea/modules.xml
@@ -3,6 +3,8 @@
   <component name="ProjectModuleManager">
     <modules>
       <module fileurl="file://$PROJECT_DIR$/.idea/modules/server.iml" filepath="$PROJECT_DIR$/.idea/modules/server.iml" />
+      <module fileurl="file://$PROJECT_DIR$/.idea/modules/server_main.iml" filepath="$PROJECT_DIR$/.idea/modules/server_main.iml" group="server" />
+      <module fileurl="file://$PROJECT_DIR$/.idea/modules/server_test.iml" filepath="$PROJECT_DIR$/.idea/modules/server_test.iml" group="server" />
     </modules>
   </component>
 </project>
\ No newline at end of file
diff --git a/server/.idea/modules/server.iml b/server/.idea/modules/server.iml
index 94a5e3f4ba6..ae202140953 100644
--- a/server/.idea/modules/server.iml
+++ b/server/.idea/modules/server.iml
@@ -1,35 +1,12 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <module external.linked.project.id="server" external.linked.project.path="$MODULE_DIR$/../.." external.root.project.path="$MODULE_DIR$/../.." external.system.id="GRADLE" external.system.module.group="server" external.system.module.version="1.0" type="JAVA_MODULE" version="4">
-  <component name="NewModuleRootManager" inherit-compiler-output="false">
-    <output url="file://$MODULE_DIR$/../../build/classes/main" />
-    <output-test url="file://$MODULE_DIR$/../../build/classes/test" />
+  <component name="NewModuleRootManager" inherit-compiler-output="true">
     <exclude-output />
-    <content url="file://$MODULE_DIR$/../../../proto">
-      <sourceFolder url="file://$MODULE_DIR$/../../../proto/protofiles_sources/out" isTestSource="false" />
-    </content>
     <content url="file://$MODULE_DIR$/../..">
-      <sourceFolder url="file://$MODULE_DIR$/../../src/main/java" isTestSource="false" />
-      <sourceFolder url="file://$MODULE_DIR$/../../src/main/kotlin" isTestSource="false" />
-      <sourceFolder url="file://$MODULE_DIR$/../../src/test/java" isTestSource="true" />
-      <sourceFolder url="file://$MODULE_DIR$/../../src/test/kotlin" isTestSource="true" />
-      <sourceFolder url="file://$MODULE_DIR$/../../src/main/resources" type="java-resource" />
-      <sourceFolder url="file://$MODULE_DIR$/../../src/test/resources" type="java-test-resource" />
       <excludeFolder url="file://$MODULE_DIR$/../../.gradle" />
       <excludeFolder url="file://$MODULE_DIR$/../../build" />
     </content>
     <orderEntry type="inheritedJdk" />
     <orderEntry type="sourceFolder" forTests="false" />
-    <orderEntry type="library" name="Gradle: org.jetbrains.kotlin:kotlin-stdlib:1.0.3" level="project" />
-    <orderEntry type="module-library">
-      <library name="Gradle: protokot-runtime">
-        <CLASSES>
-          <root url="jar://$MODULE_DIR$/../../../proto/compiler/build/protokot-runtime.jar!/" />
-        </CLASSES>
-        <JAVADOC />
-        <SOURCES />
-      </library>
-    </orderEntry>
-    <orderEntry type="library" name="Gradle: io.netty:netty-all:4.1.2.Final" level="project" />
-    <orderEntry type="library" name="Gradle: org.jetbrains.kotlin:kotlin-runtime:1.0.3" level="project" />
   </component>
 </module>
\ No newline at end of file
diff --git a/server/src/main/java/RoomScanner/CarController.kt b/server/src/main/java/RoomScanner/CarController.kt
index b075b0e6a94..a9528065b85 100644
--- a/server/src/main/java/RoomScanner/CarController.kt
+++ b/server/src/main/java/RoomScanner/CarController.kt
@@ -24,12 +24,12 @@ class CarController(var car: Car) {
     private var angle = 0.0
 
     fun moveTo(to: Pair<Double, Double>) {
-        val oldAngle = angle
-        rotateOn(estimateAngle(position, to))
+        var driveAngle = (Math.toDegrees(Math.atan2(to.first, to.second)) + 360) % 360
+        rotateOn(angleDistance(angle, driveAngle))
         drive(Direction.FORWARD, Math.max(0.0, distance(position, to)).toInt() - WALL_DISTANCE)
-        rotateOn(oldAngle)
-    }
 
+        position = to
+    }
 
     fun rotateOn(target: Double) {
         val rotateAngle = angleDistance(angle, target)
@@ -46,7 +46,7 @@ class CarController(var car: Car) {
     }
 
     fun scan(angles: IntArray): List<Pair<Double, Double>> {
-        val request = SonarRequest.BuilderSonarRequest(angles, IntArray(angles.size, { 5 }), 0, SonarRequest.Smoothing.MEDIAN).build()
+        val request = SonarRequest.BuilderSonarRequest(angles, IntArray(angles.size, { 1 }), 10, SonarRequest.Smoothing.MEDIAN).build()
         val data = serialize(request.getSizeNoTag(), { i -> request.writeTo(i) })
         val response = CarClient.sendRequest(car, CarClient.Request.SONAR, data).get().responseBodyAsBytes
 
diff --git a/server/src/main/java/RoomScanner/RoomScanner.kt b/server/src/main/java/RoomScanner/RoomScanner.kt
index c0e9abcaa91..7d958564fab 100644
--- a/server/src/main/java/RoomScanner/RoomScanner.kt
+++ b/server/src/main/java/RoomScanner/RoomScanner.kt
@@ -1,16 +1,17 @@
 package RoomScanner
 
-class RoomScanner(val controller: CarController): Thread() {
+class RoomScanner(val controller: CarController) : Thread() {
     private val points = mutableListOf<Pair<Double, Double>>()
 
     override fun run() {
+        println("Car connected ${controller.car.host}")
         while (true) {
             scan()
-            println("[${points.joinToString { "[${it.first}, ${it.second}]" }}}]")
+            println(plot(points))
         }
     }
 
-    fun scan() {
+    private fun scan() {
         val horizon = IntArray(180 / 5, { it * 5 })
         val iterationPoints = mutableListOf<Pair<Double, Double>>()
 
@@ -27,4 +28,6 @@ class RoomScanner(val controller: CarController): Thread() {
         controller.moveTo(target)
     }
 
+    private fun plot(points: MutableList<Pair<Double, Double>>) =
+            "x <- c(${points.joinToString { it.first.toInt().toString() }}) \n y <- c(${points.joinToString { it.second.toInt().toString() }})"
 }
diff --git a/server/src/main/java/car/client/Client.kt b/server/src/main/java/car/client/Client.kt
index 430c6d75c17..bfa76837453 100644
--- a/server/src/main/java/car/client/Client.kt
+++ b/server/src/main/java/car/client/Client.kt
@@ -13,9 +13,10 @@ import java.net.ConnectException
 import java.rmi.UnexpectedException
 
 object Client {
-    val group = NioEventLoopGroup()
-    val bootstrap = makeBootstrap()
-    val client = DefaultAsyncHttpClient()
+    private val group = NioEventLoopGroup()
+    private val bootstrap = makeBootstrap()
+    private val client = DefaultAsyncHttpClient()
+    private val timeout = 5 * 60 * 60 * 1000
 
     fun shutDownClient() {
         group.shutdownGracefully()
@@ -38,7 +39,7 @@ object Client {
     }
 
     fun makeRequest(request: String, data: ByteArray): ListenableFuture<Response> =
-            client.preparePost(request).setBody(data).execute() ?: throw UnexpectedException(request)
+            client.preparePost(request).setBody(data).setRequestTimeout(timeout).execute() ?: throw UnexpectedException(request)
 
     private fun makeBootstrap(): Bootstrap {
         val b = Bootstrap()