diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
deleted file mode 100644
index 1a15f3e..0000000
--- a/.vscode/c_cpp_properties.json
+++ /dev/null
@@ -1,14 +0,0 @@
-{
-    "configurations": [
-        {
-            "name": "Mac",
-            "includePath": [
-                "${workspaceFolder}/**"
-            ],
-            "defines": [],
-            "compilerPath": "/usr/bin/clang",
-            "intelliSenseMode": "macos-clang-arm64"
-        }
-    ],
-    "version": 4
-}
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
deleted file mode 100644
index 95e98ef..0000000
--- a/.vscode/settings.json
+++ /dev/null
@@ -1,8 +0,0 @@
-{
-    "files.associations": {
-        "*.rmd": "rmd",
-        "*.Rmd": "rmd",
-        "ostream": "cpp",
-        "print": "cpp"
-    }
-}
diff --git a/README.md b/README.md
index aad452c..8c0e5a5 100644
--- a/README.md
+++ b/README.md
@@ -29,4 +29,8 @@ I'm going to use the following components:
 - MPU6050 6-axis accelerometer/gyro
 - 500mAh LiPo battery (402035) - hopefully enough, I can always upgrade it, but I want to try and make it as small as possible
 - AMS1117 3.3V voltage regulator
-- TBD: Design and 3D print a case
+- ~TBD: Design and 3D print a case~~
+- 3D print
+- - [OBJ file (lid and case)](./case/Case%20Design.obj)
+- - [3MF Lid](./case/Lid_blank.3mf)
+- - [3MF Case](./case/Case.3mf)
diff --git a/case/Case Design.mtl b/case/Case Design.mtl
new file mode 100644
index 0000000..42b4618
--- /dev/null
+++ b/case/Case Design.mtl	
@@ -0,0 +1,5 @@
+# WaveFront *.mtl file (generated by Autodesk ATF)
+
+newmtl ABS_(White)_(1)
+Kd 0.682353 0.047059 0.047059
+
diff --git a/case/Case Design.obj b/case/Case Design.obj
new file mode 100644
index 0000000..75b8f74
--- /dev/null
+++ b/case/Case Design.obj	
@@ -0,0 +1,19705 @@
+# WaveFront *.obj file (generated by Autodesk ATF)
+
+mtllib Case Design.mtl
+
+g Lid
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+f 1815/5749/5683 1589/5748/5682 1588/5750/5684
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+f 1820/5753/5687 1584/5752/5686 1583/5754/5688
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+f 1819/5765/5699 1585/5764/5698 1584/5766/5700
+f 1823/5767/5701 1580/5768/5702 1824/5769/5703
+f 1824/5769/5703 1580/5768/5702 1579/5770/5704
+f 1824/5771/5705 1579/5772/5706 1825/5773/5707
+f 1825/5773/5707 1579/5772/5706 1582/5774/5708
+f 1825/5775/5709 1582/5776/5710 1826/5777/5711
+f 1826/5777/5711 1582/5776/5710 1581/5778/5712
+f 1826/5779/5713 1581/5780/5714 1823/5781/5715
+f 1823/5781/5715 1581/5780/5714 1580/5782/5716
+f 1827/5783/5717 1576/5784/5718 1828/5785/5719
+f 1828/5785/5719 1576/5784/5718 1575/5786/5720
+f 1828/5787/5721 1575/5788/5722 1829/5789/5723
+f 1829/5789/5723 1575/5788/5722 1578/5790/5724
+f 1829/5791/5725 1578/5792/5726 1830/5793/5727
+f 1830/5793/5727 1578/5792/5726 1577/5794/5728
+f 1830/5795/5729 1577/5796/5730 1827/5797/5731
+f 1827/5797/5731 1577/5796/5730 1576/5798/5732
+# 2660 vertices
+# 5798 texture params
+# 5732 normals
+# 5500 facets
+
+# 2 groups
diff --git a/case/Case.3mf b/case/Case.3mf
new file mode 100644
index 0000000..290025e
Binary files /dev/null and b/case/Case.3mf differ
diff --git a/case/Lid_blank.3mf b/case/Lid_blank.3mf
new file mode 100644
index 0000000..fb11d79
Binary files /dev/null and b/case/Lid_blank.3mf differ
diff --git a/fluid_sim.cpp b/fluid_sim.cpp
index ba37f62..7ccadcc 100644
--- a/fluid_sim.cpp
+++ b/fluid_sim.cpp
@@ -6,7 +6,7 @@
 #include "MPU6050_6Axis_MotionApps612.h"
 
 // comment out to disable debug output / serial / led
-#define DEBUG
+// #define DEBUG
 // LED for debugging interrupts
 #define LED 17
 
@@ -19,13 +19,13 @@
 // Simulation constants
 #define SIM_WIDTH 128
 #define SIM_HEIGHT 64
-#define NUM_PARTICLES 250
+#define NUM_PARTICLES 100
 #define PARTICLE_RADIUS 2
-#define GRAVITY 1.0f
-#define DAMPING 0.3f
-#define PRESSURE_RADIUS 3.5f
+#define GRAVITY 9.0f
+#define DAMPING 0.6f
+#define PRESSURE_RADIUS 2.5f
 #define PRESSURE_FORCE 0.9f
-#define MAX_VEL 2.0f
+#define MAX_VEL 4.0f
 #define GRID_SIZE 16
 #define CELL_SIZE (SIM_WIDTH/GRID_SIZE)
 
@@ -127,6 +127,40 @@ void DMPDataReady() {
   MPUInterrupt = true;
 }
 
+void goToSleep() {
+  // detachInterrupt(GPIO_NUM_27); // Disable wake-up interrupt
+  // print goodbye message on display
+  memset(canvasData, 0, sizeof(canvasData));
+  canvas.setMode(CANVAS_MODE_TRANSPARENT);
+  canvas.setFixedFont(ssd1306xled_font6x8);
+  canvas.printFixed(30, 30, "Goodbye! <3", STYLE_NORMAL);
+  display.drawCanvas(0, 0, canvas);
+  // Add a brief delay to ensure display updates
+  delay(5000);
+  // Prepare MPU6050 for motion detection
+  mpuMotionDetectMode();
+  
+  // Force a read to clear any pending interrupts
+  mpu.getIntStatus();
+  
+  // Add a brief delay to ensure MPU settles
+  delay(100);
+  display.m_i2c.displayOff();
+  // Configure the wake-up source (active LOW)
+  esp_sleep_enable_ext0_wakeup(GPIO_NUM_27, 1);
+
+  delay(1000);
+  
+  // Debug message
+#ifdef DEBUG
+  Serial.println("Going to deep sleep now");
+  Serial.flush();
+#endif
+  
+  // Enter deep sleep
+  esp_deep_sleep_start();
+}
+
 // Setup serial communication
 // only for debugging
 void initSerial() {
@@ -288,8 +322,10 @@ void buildSpatialGrid() {
     int gy = constrain(particles[i].y / CELL_SIZE, 0, GRID_SIZE-1);
     int cellIndex = gy * GRID_SIZE + gx;
     int insertPos = gridCellStart[cellIndex] + gridCellCount[cellIndex];
-    gridParticles[insertPos] = i;
-    gridCellCount[cellIndex]++;
+    if(insertPos < NUM_PARTICLES) {
+      gridParticles[insertPos] = i;
+      gridCellCount[cellIndex]++;
+    }
   }
 }
 
@@ -343,6 +379,7 @@ void setup() {
   // DMPReady = true;
   mpuActiveMonitorMode();
   pinMode(EXT0_PIN, INPUT);
+  pinMode(GPIO_NUM_27, INPUT_PULLUP); // wake up pin
 
 #ifdef DEBUG
   pinMode(LED, OUTPUT);
@@ -352,6 +389,7 @@ void setup() {
   Serial.println(F(")..."));
 #endif
   attachInterrupt(digitalPinToInterrupt(EXT0_PIN), DMPDataReady, FALLING);
+  // attachInterrupt(GPIO_NUM_27, goToSleep, FALLING);
   MPUIntStatus = mpu.getIntStatus();
   
   // Initialize sleep timer (start counting from device boot/wake)
@@ -417,7 +455,7 @@ void applyPhysics() {
             const float dist = fast_sqrt(dist_sq) + 0.001f;
             const float force = PRESSURE_FORCE * (1.0f - dist/PRESSURE_RADIUS);
             
-            // Only apply horizontal forces to preserve gravity
+            // Apply pressure forces (original behavior)
             particles[i].vx -= force * dx/dist;
             particles[j].vx += force * dx/dist;
             
@@ -454,6 +492,7 @@ void applyPhysics() {
 
     // Apply stronger damping during high movement
     float adaptiveDamping = DAMPING * (1.0f - accelBoost * 0.2f);
+    
     // X-axis
     if(particles[i].x <= 0 || particles[i].x >= SIM_WIDTH-1) {
       particles[i].vx *= -adaptiveDamping;
@@ -474,8 +513,17 @@ void drawParticles() {
   memset(canvasData, 0, sizeof(canvasData));
   // canvas.clear();
   for(int i=0; i<NUM_PARTICLES; i++) {
-      int x = constrain(static_cast<int>(particles[i].x + 0.5f), 0, SIM_WIDTH-1);
-      int y = constrain(static_cast<int>(particles[i].y + 0.5f), 0, SIM_HEIGHT-1);
+    // Reset corrupted particles
+    if(particles[i].x < 0 || particles[i].x > SIM_WIDTH || particles[i].y < 0 || particles[i].y > SIM_HEIGHT ||
+       isnan(particles[i].x) || isnan(particles[i].y) || isnan(particles[i].vx) || isnan(particles[i].vy)) {
+      particles[i].x = random(SIM_WIDTH/4, 3*SIM_WIDTH/4);
+      particles[i].y = random(SIM_HEIGHT/4, 3*SIM_HEIGHT/4);
+      particles[i].vx = 0;
+      particles[i].vy = 0;
+    }
+    
+    int x = constrain(static_cast<int>(particles[i].x + 0.5f), 0, SIM_WIDTH-1);
+    int y = constrain(static_cast<int>(particles[i].y + 0.5f), 0, SIM_HEIGHT-1);
 
     #if PARTICLE_RADIUS == 1
       canvas.putPixel(x, y);
@@ -549,31 +597,7 @@ void reportIMU() {
   MPUInterrupt = false;
 }
 
-void goToSleep() {
-  display.m_i2c.displayOff();
-  // detach interrupt
-  // detachInterrupt(digitalPinToInterrupt(EXT0_PIN));
-  // Prepare MPU6050 for motion detection
-  mpuMotionDetectMode();
-  
-  // Force a read to clear any pending interrupts
-  mpu.getIntStatus();
-  
-  // Add a brief delay to ensure MPU settles
-  delay(100);
-  
-  // Configure the wake-up source (active LOW)
-  esp_sleep_enable_ext0_wakeup(GPIO_NUM_34, 0);
-  
-  // Debug message
-#ifdef DEBUG
-  Serial.println("Going to deep sleep now");
-  Serial.flush();
-#endif
-  
-  // Enter deep sleep
-  esp_deep_sleep_start();
-}
+
 
 void sleepTimer() {
   if (zMotInterrupt && millis() - lastZMot > SLEEP_AFTER_MS) {
@@ -581,12 +605,20 @@ void sleepTimer() {
   }
 }
 
+void sleepCheck() {
+  int buttonState = digitalRead(GPIO_NUM_27);
+    if (buttonState == HIGH) {
+    // Button pressed, go to sleep
+    goToSleep();
+  };
+}
+
 void loop() {
   static uint32_t last_frame = 0;
   drawParticles();
   reportIMU();
-  if(millis() - last_frame >= 33) {
-    sleepTimer();
+  if(millis() - last_frame >= 3) {
+    sleepCheck();
     last_frame = millis();
     applyPhysics();
   } else {
diff --git a/old/working_imu_grav.ino b/fluid_sim/fluid_sim.ino
similarity index 82%
rename from old/working_imu_grav.ino
rename to fluid_sim/fluid_sim.ino
index de82f0a..7ccadcc 100644
--- a/old/working_imu_grav.ino
+++ b/fluid_sim/fluid_sim.ino
@@ -6,7 +6,7 @@
 #include "MPU6050_6Axis_MotionApps612.h"
 
 // comment out to disable debug output / serial / led
-#define DEBUG
+// #define DEBUG
 // LED for debugging interrupts
 #define LED 17
 
@@ -19,13 +19,13 @@
 // Simulation constants
 #define SIM_WIDTH 128
 #define SIM_HEIGHT 64
-#define NUM_PARTICLES 250
+#define NUM_PARTICLES 100
 #define PARTICLE_RADIUS 2
-#define GRAVITY 1.0f
-#define DAMPING 0.3f
-#define PRESSURE_RADIUS 3.5f
+#define GRAVITY 9.0f
+#define DAMPING 0.6f
+#define PRESSURE_RADIUS 2.5f
 #define PRESSURE_FORCE 0.9f
-#define MAX_VEL 2.0f
+#define MAX_VEL 4.0f
 #define GRID_SIZE 16
 #define CELL_SIZE (SIM_WIDTH/GRID_SIZE)
 
@@ -80,7 +80,7 @@ MPU6050 mpu;
 // I2C device found at address 0x68  ! // IMU
 
 typedef float f32 __attribute__((aligned(4)));
-struct Particle {
+struct __attribute__((packed)) Particle {
   f32 x, y;
   f32 vx, vy;
 };
@@ -127,6 +127,40 @@ void DMPDataReady() {
   MPUInterrupt = true;
 }
 
+void goToSleep() {
+  // detachInterrupt(GPIO_NUM_27); // Disable wake-up interrupt
+  // print goodbye message on display
+  memset(canvasData, 0, sizeof(canvasData));
+  canvas.setMode(CANVAS_MODE_TRANSPARENT);
+  canvas.setFixedFont(ssd1306xled_font6x8);
+  canvas.printFixed(30, 30, "Goodbye! <3", STYLE_NORMAL);
+  display.drawCanvas(0, 0, canvas);
+  // Add a brief delay to ensure display updates
+  delay(5000);
+  // Prepare MPU6050 for motion detection
+  mpuMotionDetectMode();
+  
+  // Force a read to clear any pending interrupts
+  mpu.getIntStatus();
+  
+  // Add a brief delay to ensure MPU settles
+  delay(100);
+  display.m_i2c.displayOff();
+  // Configure the wake-up source (active LOW)
+  esp_sleep_enable_ext0_wakeup(GPIO_NUM_27, 1);
+
+  delay(1000);
+  
+  // Debug message
+#ifdef DEBUG
+  Serial.println("Going to deep sleep now");
+  Serial.flush();
+#endif
+  
+  // Enter deep sleep
+  esp_deep_sleep_start();
+}
+
 // Setup serial communication
 // only for debugging
 void initSerial() {
@@ -252,26 +286,45 @@ void mpuActiveMonitorMode() {
 
 
 
-struct GridCell {
-  uint8_t particles[10];
-  uint8_t count;
-};
-
-GridCell grid[GRID_SIZE][GRID_SIZE];
+// Optimized spatial grid using single array + cell indices
+uint8_t gridParticles[NUM_PARTICLES];  // All particles in grid order
+uint16_t gridCellStart[GRID_SIZE * GRID_SIZE];  // Start index for each cell
+uint8_t gridCellCount[GRID_SIZE * GRID_SIZE];   // Count for each cell
 
 #ifdef DEBUG
 bool blinkState = true;
 #endif
 
 void buildSpatialGrid() {
-  memset(grid, 0, sizeof(grid));
-
-  for(int i=0; i<NUM_PARTICLES; i++) {
+  // Clear cell counts
+  memset(gridCellCount, 0, sizeof(gridCellCount));
+  
+  // Count particles per cell
+  for(int i = 0; i < NUM_PARTICLES; i++) {
     int gx = constrain(particles[i].x / CELL_SIZE, 0, GRID_SIZE-1);
     int gy = constrain(particles[i].y / CELL_SIZE, 0, GRID_SIZE-1);
-    
-    if(grid[gx][gy].count < 10) {
-      grid[gx][gy].particles[grid[gx][gy].count++] = i;
+    int cellIndex = gy * GRID_SIZE + gx;
+    gridCellCount[cellIndex]++;
+  }
+  
+  // Calculate start indices (prefix sum)
+  gridCellStart[0] = 0;
+  for(int i = 1; i < GRID_SIZE * GRID_SIZE; i++) {
+    gridCellStart[i] = gridCellStart[i-1] + gridCellCount[i-1];
+  }
+  
+  // Reset counts for filling
+  memset(gridCellCount, 0, sizeof(gridCellCount));
+  
+  // Fill particle indices
+  for(int i = 0; i < NUM_PARTICLES; i++) {
+    int gx = constrain(particles[i].x / CELL_SIZE, 0, GRID_SIZE-1);
+    int gy = constrain(particles[i].y / CELL_SIZE, 0, GRID_SIZE-1);
+    int cellIndex = gy * GRID_SIZE + gx;
+    int insertPos = gridCellStart[cellIndex] + gridCellCount[cellIndex];
+    if(insertPos < NUM_PARTICLES) {
+      gridParticles[insertPos] = i;
+      gridCellCount[cellIndex]++;
     }
   }
 }
@@ -326,6 +379,7 @@ void setup() {
   // DMPReady = true;
   mpuActiveMonitorMode();
   pinMode(EXT0_PIN, INPUT);
+  pinMode(GPIO_NUM_27, INPUT_PULLUP); // wake up pin
 
 #ifdef DEBUG
   pinMode(LED, OUTPUT);
@@ -335,7 +389,12 @@ void setup() {
   Serial.println(F(")..."));
 #endif
   attachInterrupt(digitalPinToInterrupt(EXT0_PIN), DMPDataReady, FALLING);
+  // attachInterrupt(GPIO_NUM_27, goToSleep, FALLING);
   MPUIntStatus = mpu.getIntStatus();
+  
+  // Initialize sleep timer (start counting from device boot/wake)
+  lastZMot = millis();
+  zMotInterrupt = false;
   // }
   
 
@@ -380,9 +439,12 @@ void applyPhysics() {
         if(gx+dx < 0 || gx+dx >= GRID_SIZE) continue;
         if(gy+dy < 0 || gy+dy >= GRID_SIZE) continue;
         
-        GridCell &cell = grid[gx+dx][gy+dy];
-        for(int c=0; c<cell.count; c++) {
-          const int j = cell.particles[c];
+        int cellIndex = (gy+dy) * GRID_SIZE + (gx+dx);
+        int cellStart = gridCellStart[cellIndex];
+        int cellCount = gridCellCount[cellIndex];
+        
+        for(int c = 0; c < cellCount; c++) {
+          const int j = gridParticles[cellStart + c];
           if(j <= i) continue; // Avoid duplicate pairs
 
           const float dx = particles[j].x - particles[i].x;
@@ -393,7 +455,7 @@ void applyPhysics() {
             const float dist = fast_sqrt(dist_sq) + 0.001f;
             const float force = PRESSURE_FORCE * (1.0f - dist/PRESSURE_RADIUS);
             
-            // Only apply horizontal forces to preserve gravity
+            // Apply pressure forces (original behavior)
             particles[i].vx -= force * dx/dist;
             particles[j].vx += force * dx/dist;
             
@@ -430,6 +492,7 @@ void applyPhysics() {
 
     // Apply stronger damping during high movement
     float adaptiveDamping = DAMPING * (1.0f - accelBoost * 0.2f);
+    
     // X-axis
     if(particles[i].x <= 0 || particles[i].x >= SIM_WIDTH-1) {
       particles[i].vx *= -adaptiveDamping;
@@ -450,8 +513,17 @@ void drawParticles() {
   memset(canvasData, 0, sizeof(canvasData));
   // canvas.clear();
   for(int i=0; i<NUM_PARTICLES; i++) {
-      int x = constrain(static_cast<int>(particles[i].x + 0.5f), 0, SIM_WIDTH-1);
-      int y = constrain(static_cast<int>(particles[i].y + 0.5f), 0, SIM_HEIGHT-1);
+    // Reset corrupted particles
+    if(particles[i].x < 0 || particles[i].x > SIM_WIDTH || particles[i].y < 0 || particles[i].y > SIM_HEIGHT ||
+       isnan(particles[i].x) || isnan(particles[i].y) || isnan(particles[i].vx) || isnan(particles[i].vy)) {
+      particles[i].x = random(SIM_WIDTH/4, 3*SIM_WIDTH/4);
+      particles[i].y = random(SIM_HEIGHT/4, 3*SIM_HEIGHT/4);
+      particles[i].vx = 0;
+      particles[i].vy = 0;
+    }
+    
+    int x = constrain(static_cast<int>(particles[i].x + 0.5f), 0, SIM_WIDTH-1);
+    int y = constrain(static_cast<int>(particles[i].y + 0.5f), 0, SIM_HEIGHT-1);
 
     #if PARTICLE_RADIUS == 1
       canvas.putPixel(x, y);
@@ -502,11 +574,15 @@ void reportIMU() {
         lastAccel = aa;
          // Calculate magnitude of acceleration for impulse detection
         lastAccelMagnitude = accelMagnitude;
-        accelMagnitude = sqrt(aa.x*aa.x + aa.y*aa.y + aa.z*aa.z);
+        accelMagnitude = fast_sqrt(aa.x*aa.x + aa.y*aa.y + aa.z*aa.z);
         
         // Detect sudden changes (ignoring gravity component of ~16384)
         float accelDelta = abs(accelMagnitude - lastAccelMagnitude);
         maxAccelImpulse = max(maxAccelImpulse * 0.9f, accelDelta);
+        
+        // Reset sleep timer on ANY motion/DMP data (device is active)
+        lastZMot = millis();
+        zMotInterrupt = false;  // Clear zero motion flag since we have motion
     }
   }
   else {
@@ -521,31 +597,7 @@ void reportIMU() {
   MPUInterrupt = false;
 }
 
-void goToSleep() {
-  display.m_i2c.displayOff();
-  // detach interrupt
-  // detachInterrupt(digitalPinToInterrupt(EXT0_PIN));
-  // Prepare MPU6050 for motion detection
-  mpuMotionDetectMode();
-  
-  // Force a read to clear any pending interrupts
-  mpu.getIntStatus();
-  
-  // Add a brief delay to ensure MPU settles
-  delay(100);
-  
-  // Configure the wake-up source (active LOW)
-  esp_sleep_enable_ext0_wakeup(GPIO_NUM_34, 0);
-  
-  // Debug message
-#ifdef DEBUG
-  Serial.println("Going to deep sleep now");
-  Serial.flush();
-#endif
-  
-  // Enter deep sleep
-  esp_deep_sleep_start();
-}
+
 
 void sleepTimer() {
   if (zMotInterrupt && millis() - lastZMot > SLEEP_AFTER_MS) {
@@ -553,19 +605,23 @@ void sleepTimer() {
   }
 }
 
+void sleepCheck() {
+  int buttonState = digitalRead(GPIO_NUM_27);
+    if (buttonState == HIGH) {
+    // Button pressed, go to sleep
+    goToSleep();
+  };
+}
+
 void loop() {
   static uint32_t last_frame = 0;
   drawParticles();
   reportIMU();
-  if(millis() - last_frame >= 33) {
-    sleepTimer();
+  if(millis() - last_frame >= 3) {
+    sleepCheck();
     last_frame = millis();
     applyPhysics();
   } else {
     lcd_delay(millis() - last_frame);
   }
 }
-// TODO
-// 1. add proper collision / overlap constraints (so no line of balls)
-// 2. adjust phsyics further, make it more natural
-// 3. adjust particle direction from impulse / accel interaction (gravity is correct, impulse is flipped)
diff --git a/old/flip.ino b/old/flip.ino
deleted file mode 100644
index f3efc71..0000000
--- a/old/flip.ino
+++ /dev/null
@@ -1,334 +0,0 @@
-#include <Arduino.h>
-#include <lcdgfx.h>
-#include <FastTrig.h>
-
-// this is working on the mega
-
-DisplaySSD1306_128x64_I2C display(-1); 
-
-// Simulation constants
-#define SIM_WIDTH 128
-#define SIM_HEIGHT 64
-#define NUM_PARTICLES 80
-#define PARTICLE_RADIUS 2
-#define GRAVITY 0.9f
-#define DAMPING 0.92f
-#define PRESSURE_RADIUS 4.5f
-#define PRESSURE_FORCE 0.6f
-#define MAX_VEL 10.0f
-
-#ifdef __AVR__
-  typedef int16_t fixed_t;
-  #define FIX_SHIFT 6
-  #define TO_FIXED(x) ((fixed_t)((x) * (1<<FIX_SHIFT)))
-  #define TO_FLOAT(x) ((x) / (1<<FIX_SHIFT))
-  
-  struct Particle {
-    fixed_t x, y;
-    fixed_t vx, vy;
-  };
-  
-#else
-  typedef float f32 __attribute__((aligned(4)));
-  struct Particle {
-    f32 x, y;
-    f32 vx, vy;
-  };
-#endif
-
-inline float fast_sqrt(float x) {
-  union { float f; uint32_t i; } u;
-  u.f = x;
-  u.i = 0x5f375a86 - (u.i >> 1);
-  return u.f * (1.5f - 0.5f * x * u.f * u.f);
-}
-
-Particle particles[NUM_PARTICLES];
-uint8_t canvasData[SIM_WIDTH*(SIM_HEIGHT/8)];
-NanoCanvas1 canvas(SIM_WIDTH, SIM_HEIGHT, canvasData);
-
-
-#define GRID_SIZE 16
-#define CELL_SIZE (SIM_WIDTH/GRID_SIZE)
-
-struct GridCell {
-  uint8_t particles[10];
-  uint8_t count;
-};
-
-GridCell grid[GRID_SIZE][GRID_SIZE];
-
-void buildSpatialGrid() {
-  memset(grid, 0, sizeof(grid));
-
-  for(int i=0; i<NUM_PARTICLES; i++) {
-    #ifdef __AVR__
-      float x = TO_FLOAT(particles[i].x);
-      float y = TO_FLOAT(particles[i].y);
-    #else
-      float x = particles[i].x;
-      float y = particles[i].y;
-    #endif
-    
-    int gx = constrain(x / CELL_SIZE, 0, GRID_SIZE-1);
-    int gy = constrain(y / CELL_SIZE, 0, GRID_SIZE-1);
-    
-    if(grid[gx][gy].count < 10) {
-      grid[gx][gy].particles[grid[gx][gy].count++] = i;
-    }
-  }
-}
-
-
-void setup() {
-  // String str; // Hhack
-  display.begin();
-  display.clear();
-  canvas.setMode(CANVAS_MODE_TRANSPARENT);
-  
-  // Serial.begin(115200);
-  // while (!Serial);
-
-  // Initialize particles in a droplet pattern
-  float cx = SIM_WIDTH/2;
-  float cy = SIM_HEIGHT/4;
-
-  #ifdef __AVR__
-    for(int i=0; i<NUM_PARTICLES; i++) {
-      float angle = random(360) * PI / 180.0f;
-      float radius = random(10);
-      
-      float x_offset = icos(angle) * radius; 
-      float y_offset = isin(angle) * radius;
-
-      // Constrain BEFORE fixed-point conversion
-      float xpos = constrain(cx + x_offset, 0.0f, SIM_WIDTH-1.0f);
-      float ypos = constrain(cy + y_offset, 0.0f, SIM_HEIGHT-1.0f);
-      
-      particles[i].x = TO_FIXED(xpos);
-      particles[i].y = TO_FIXED(ypos);
-
-      //Serial.print(str+"Particle "+i+": (angle)"+angle+", (radius)"+radius+" (offsets)"+x_offset+","+y_offset+" -> (x,y)"+particles[i].x+","+particles[i].y+"\n");
-      
-      // Ensure velocities are within range
-      particles[i].vx = TO_FIXED(constrain((random(-50,50)/25.0f), -2.0f, 2.0f));
-      particles[i].vy = TO_FIXED(constrain((random(-25,50)/25.0f), -1.0f, 2.0f));
-    }
-  #else
-    for(int i=0; i<NUM_PARTICLES; i++) {
-      float angle = random(360) * PI / 180.0;
-      float radius = random(10);
-      particles[i].x = cx + icos(angle) * radius;
-      particles[i].y = cy + isin(angle) * radius;
-      particles[i].vx = random(-50,50)/25.0;  // -2 to +2
-      particles[i].vy = random(-25,50)/25.0;   // -1 to +2
-    }
-  #endif
-}
-
-void applyPhysics() {
-#ifdef __AVR__
-  // Fixed-point implementation
-  const fixed_t gravity = TO_FIXED(GRAVITY);
-  const fixed_t damping = TO_FIXED(DAMPING);
-  const fixed_t pressure_radius = TO_FIXED(PRESSURE_RADIUS);
-  const fixed_t max_vel = TO_FIXED(MAX_VEL);
-
-  // Convert spatial grid to fixed-point
-  buildSpatialGrid();
-  const int32_t pressure_radius_sq = ((int32_t)pressure_radius * pressure_radius) >> FIX_SHIFT;
-
-  // Particle interactions
-  for(int i=0; i<NUM_PARTICLES; i++) {
-    const int gx = TO_FLOAT(particles[i].x) / CELL_SIZE;
-    const int gy = TO_FLOAT(particles[i].y) / CELL_SIZE;
-
-    for(int dx=-1; dx<=1; dx++) {
-      for(int dy=-1; dy<=1; dy++) {
-        if(gx+dx < 0 || gx+dx >= GRID_SIZE) continue;
-        if(gy+dy < 0 || gy+dy >= GRID_SIZE) continue;
-        
-        GridCell &cell = grid[gx+dx][gy+dy];
-        for(int c=0; c<cell.count; c++) {
-          const int j = cell.particles[c];
-          if(j <= i) continue;
-
-          const fixed_t dx = particles[j].x - particles[i].x;
-          const fixed_t dy = particles[j].y - particles[i].y;
-          const fixed_t dist_sq = (dx*dx + dy*dy) >> FIX_SHIFT;
-
-          if(dist_sq < pressure_radius_sq && dist_sq > TO_FIXED(0.01f)) {
-            // Convert to float for precise calculation
-            float fx = TO_FLOAT(dx);
-            float fy = TO_FLOAT(dy);
-            float dist = sqrt(fx*fx + fy*fy) + 0.001f;
-            
-            // Normalize direction vector
-            float nx = fx / dist;
-            float ny = fy / dist;
-            
-            // Calculate force magnitude
-            float force = PRESSURE_FORCE * (1.0f - dist/TO_FLOAT(pressure_radius));
-            
-            // Apply force to both particles
-            float fx_impulse = force * nx;
-            float fy_impulse = force * ny * 0.7f;  // Reduce vertical effect
-            
-            particles[i].vx -= TO_FIXED(fx_impulse);
-            particles[i].vy -= TO_FIXED(fy_impulse);
-            particles[j].vx += TO_FIXED(fx_impulse); 
-            particles[j].vy += TO_FIXED(fy_impulse);
-          }
-        }
-      }
-    }
-  }
-
-  // Physics update with constraints
-  for(int i=0; i<NUM_PARTICLES; i++) {
-    // Apply gravity
-    particles[i].vy += gravity;
-
-    // Update position
-    particles[i].x += particles[i].vx;
-    particles[i].y += particles[i].vy;
-
-    // Velocity constraints
-    particles[i].vx = constrain(particles[i].vx, -TO_FIXED(MAX_VEL*2), TO_FIXED(MAX_VEL*2));
-    particles[i].vy = constrain(particles[i].vy, -TO_FIXED(MAX_VEL*2), TO_FIXED(MAX_VEL*2));
-    // Simple floor collision
-    // if(TO_FLOAT(particles[i].y) > SIM_HEIGHT-1) {
-    //   particles[i].y = TO_FIXED(SIM_HEIGHT-1);
-    //   particles[i].vy = -particles[i].vy * damping;
-    // }
-    // Boundary checks
-    const float x = TO_FLOAT(particles[i].x);
-    const float y = TO_FLOAT(particles[i].y);
-    
-    if(x <= 0 || x >= SIM_WIDTH-1) {
-      particles[i].vx = (-damping * particles[i].vx) >> FIX_SHIFT;
-      particles[i].x = TO_FIXED(constrain(x, 1, SIM_WIDTH-2));
-    }
-    
-    if(y <= 0 || y >= SIM_HEIGHT-1) {
-      particles[i].vy = (-damping * particles[i].vy) >> FIX_SHIFT;
-      particles[i].y = TO_FIXED(constrain(y, 1, SIM_HEIGHT-2));
-    }
-  }
-#else
-  // Build spatial grid
-  buildSpatialGrid();
-
-  // Interactions using grid
-  const float PRESSURE_RADIUS_SQ = PRESSURE_RADIUS * PRESSURE_RADIUS;
-  
-  for(int i=0; i<NUM_PARTICLES; i++) {
-    const int gx = particles[i].x / CELL_SIZE;
-    const int gy = particles[i].y / CELL_SIZE;
-
-    // Check 3x3 grid around particle
-    for(int dx=-1; dx<=1; dx++) {
-      for(int dy=-1; dy<=1; dy++) {
-        if(gx+dx < 0 || gx+dx >= GRID_SIZE) continue;
-        if(gy+dy < 0 || gy+dy >= GRID_SIZE) continue;
-        
-        GridCell &cell = grid[gx+dx][gy+dy];
-        for(int c=0; c<cell.count; c++) {
-          const int j = cell.particles[c];
-          if(j <= i) continue; // Avoid duplicate pairs
-
-          const float dx = particles[j].x - particles[i].x;
-          const float dy = particles[j].y - particles[i].y;
-          const float dist_sq = dx*dx + dy*dy;
-
-          if(dist_sq < PRESSURE_RADIUS_SQ && dist_sq > 0.01f) {
-            const float dist = fast_sqrt(dist_sq) + 0.001f;
-            const float force = PRESSURE_FORCE * (1.0f - dist/PRESSURE_RADIUS);
-            
-            // Only apply horizontal forces to preserve gravity
-            particles[i].vx -= force * dx/dist;
-            particles[j].vx += force * dx/dist;
-            
-            // Reduce vertical force impact
-            particles[i].vy -= force * dy/dist * 0.3f;
-            particles[j].vy += force * dy/dist * 0.3f;
-          }
-        }
-      }
-    }
-  }
-
-    // Gravity and movement
-  for(int i=0; i<NUM_PARTICLES; i++) {
-    particles[i].vy += GRAVITY;
-    particles[i].x += particles[i].vx;
-    particles[i].y += particles[i].vy;
-    particles[i].vx = constrain(particles[i].vx, -MAX_VEL, MAX_VEL);
-    particles[i].vy = constrain(particles[i].vy, -MAX_VEL, MAX_VEL);
-    // X-axis
-    if(particles[i].x <= 0 || particles[i].x >= SIM_WIDTH-1) {
-      particles[i].vx *= -DAMPING;
-      particles[i].x = constrain(particles[i].x, 1, SIM_WIDTH-2);
-    }
-    
-    // Y-axis
-    if(particles[i].y <= 0 || particles[i].y >= SIM_HEIGHT-1) {
-      particles[i].vy *= -DAMPING;
-      particles[i].y = constrain(particles[i].y, 1, SIM_HEIGHT-2);
-    }
-  }
-#endif
-}
-
-// Direct canvas buffer access (replace drawParticles)
-void drawParticles() {
-  // Clear canvas by direct memory access
-  memset(canvasData, 0, sizeof(canvasData));
-  // canvas.clear();
-  // bool occupied[SIM_WIDTH][SIM_HEIGHT] = {false};
-  for(int i=0; i<NUM_PARTICLES; i++) {
-    #ifdef __AVR__
-      int x = static_cast<int>(TO_FLOAT(particles[i].x) + 0.5f);
-      int y = static_cast<int>(TO_FLOAT(particles[i].y) + 0.5f);
-    #else
-      int x = constrain(static_cast<int>(particles[i].x + 0.5f), 0, SIM_WIDTH-1);
-      int y = constrain(static_cast<int>(particles[i].y + 0.5f), 0, SIM_HEIGHT-1);
-    #endif
-
-    #if PARTICLE_RADIUS == 1
-      canvas.putPixel(x, y);
-    #else
-      canvas.drawCircle(x,y,PARTICLE_RADIUS);
-    #endif
-    // if(!occupied[x][y]) {
-    //   canvas.putPixel(x, y);
-    //   occupied[x][y] = true;
-      
-    //   // Add neighbor pixels if using 2x2
-    //   if(x < SIM_WIDTH-1 && !occupied[x+1][y]) {
-    //     canvas.putPixel(x+1, y);
-    //     occupied[x+1][y] = true;
-    //   }
-    //   if(y < SIM_HEIGHT-1 && !occupied[x][y+1]) {
-    //     canvas.putPixel(x, y+1);
-    //     occupied[x][y+1] = true;
-    //   }
-    // }
-  }
-  
-  display.drawCanvas(0,0,canvas);
-}
-
-
-void loop() {
-  static uint32_t last_frame = 0;
-  //lcd_delay(5000);
-  drawParticles();
-  //delay(1000);
-  if(millis() - last_frame >= 33) {
-    last_frame = millis();
-    applyPhysics();
-  } else {
-    lcd_delay(millis() - last_frame);
-  }
-}
diff --git a/old/fluid.cpp b/old/fluid.cpp
deleted file mode 100644
index ee6a579..0000000
--- a/old/fluid.cpp
+++ /dev/null
@@ -1,106 +0,0 @@
-#include <iostream>
-#include <vector>
-#include <chrono>
-#include <cstdlib>
-#include <cmath>
-
-using namespace std;
-
-// Simulation constants
-const int SIM_WIDTH = 64;
-const int SIM_HEIGHT = 32;
-const int NUM_PARTICLES = 100;
-
-struct Particle {
-    double x, y;
-    double vx, vy;
-};
-
-vector<Particle> particles(NUM_PARTICLES);
-
-void initializeParticles() {
-    for (auto& p : particles) {
-        p.x = rand() % SIM_WIDTH;
-        p.y = rand() % (SIM_HEIGHT / 2);
-        p.vx = (rand() % 200 - 100) / 100.0 * 0.7;
-        p.vy = (rand() % 100 - 50) / 100.0;
-    }
-}
-
-void updatePhysics() {
-    const double gravity = 0.15;
-    const double damping = 0.82;
-    const double border = 2.0;
-
-    for (auto& p : particles) {
-        p.vy += gravity;
-        p.x += p.vx;
-        p.y += p.vy;
-
-        // Horizontal boundary collisions
-        if (p.x < border || p.x >= SIM_WIDTH - border) {
-            p.vx = -p.vx * damping;
-            p.x = max(border, min(p.x, SIM_WIDTH - border - 0.1));
-        }
-
-        // Vertical boundary collisions
-        if (p.y < border || p.y >= SIM_HEIGHT - border) {
-            p.vy = -p.vy * damping;
-            p.y = max(border, min(p.y, SIM_HEIGHT - border - 0.1));
-        }
-    }
-}
-
-void drawFrame() {
-    vector<vector<char> > grid(SIM_HEIGHT, vector<char>(SIM_WIDTH, ' '));
-
-    // Plot particles
-    for (const auto& p : particles) {
-        int x = static_cast<int>(p.x);
-        int y = static_cast<int>(p.y);
-        x = max(0, min(SIM_WIDTH - 1, x));
-        y = max(0, min(SIM_HEIGHT - 1, y));
-        grid[y][x] = 'o';
-    }
-
-    // Clear screen and reset cursor
-    cout << "\033[H";
-
-    // Draw grid
-    for (const auto& row : grid) {
-        for (char c : row) {
-            cout << c;
-        }
-        cout << '\n';
-    }
-    cout << flush;
-}
-
-int main() {
-    srand(time(nullptr));
-    initializeParticles();
-    
-    // Hide cursor
-    cout << "\033[?25l";
-
-    auto last_frame = chrono::steady_clock::now();
-    const chrono::milliseconds frame_delay(33);
-
-    try {
-        while (true) {
-            auto now = chrono::steady_clock::now();
-            if (now - last_frame >= frame_delay) {
-                updatePhysics();
-                drawFrame();
-                last_frame = now;
-            }
-        }
-    } catch (...) {
-        // Show cursor before exiting
-        cout << "\033[?25h";
-    }
-
-    // Restore cursor
-    cout << "\033[?25h";
-    return 0;
-}
diff --git a/old/fluid.py b/old/fluid.py
deleted file mode 100644
index 575de2c..0000000
--- a/old/fluid.py
+++ /dev/null
@@ -1,92 +0,0 @@
-import time
-import random
-import sys
-
-# Simulation constants
-SIM_WIDTH = 128
-SIM_HEIGHT = 64
-NUM_PARTICLES = 200
-GRAVITY = 0.5
-DAMPING = 0.82
-BORDER = 2.0
-FRAME_DELAY = 0.033  # ~30 FPS
-
-class Particle:
-    def __init__(self):
-        self.x = random.uniform(BORDER, SIM_WIDTH - BORDER)
-        self.y = random.uniform(BORDER, SIM_HEIGHT/2 - BORDER)
-        self.vx = random.uniform(-1, 1) * 0.7
-        self.vy = random.uniform(-0.5, 0.5)
-
-def initialize_particles(num_particles):
-    return [Particle() for _ in range(num_particles)]
-
-def update_physics(particles):
-    for p in particles:
-        # Apply gravity
-        p.vy += GRAVITY
-        
-        # Update position
-        p.x += p.vx
-        p.y += p.vy
-
-        # Horizontal boundary collisions
-        if p.x < BORDER or p.x >= SIM_WIDTH - BORDER:
-            p.vx *= -DAMPING
-            p.x = max(BORDER, min(p.x, SIM_WIDTH - BORDER - 0.1))
-
-        # Vertical boundary collisions
-        if p.y < BORDER or p.y >= SIM_HEIGHT - BORDER:
-            p.vy *= -DAMPING
-            p.y = max(BORDER, min(p.y, SIM_HEIGHT - BORDER - 0.1))
-
-def draw_frame(particles):
-    # Initialize empty grid
-    grid = [[' ' for _ in range(SIM_WIDTH)] for _ in range(SIM_HEIGHT)]
-    
-    # Plot particles
-    for p in particles:
-        x = int(p.x)
-        y = int(p.y)
-        if 0 <= x < SIM_WIDTH and 0 <= y < SIM_HEIGHT:
-            grid[y][x] = 'o'
-    
-    # Build frame buffer
-    buffer = []
-    for row in grid:
-        buffer.append(''.join(row))
-    
-    # Clear screen and move cursor to top-left
-    sys.stdout.write('\033[H\033[J')
-    sys.stdout.write('\n'.join(buffer))
-    sys.stdout.flush()
-
-def main():
-    particles = initialize_particles(NUM_PARTICLES)
-    
-    # Hide cursor
-    sys.stdout.write('\033[?25l')
-    sys.stdout.flush()
-
-    try:
-        while True:
-            start_time = time.monotonic()
-            
-            update_physics(particles)
-            draw_frame(particles)
-            
-            # Frame rate control
-            elapsed = time.monotonic() - start_time
-            sleep_time = FRAME_DELAY - elapsed
-            if sleep_time > 0:
-                time.sleep(sleep_time)
-                
-    except KeyboardInterrupt:
-        pass
-    finally:
-        # Show cursor before exiting
-        sys.stdout.write('\033[?25h')
-        sys.stdout.flush()
-
-if __name__ == "__main__":
-    main()
diff --git a/old/sketch copy.ino b/old/sketch copy.ino
deleted file mode 100644
index a0e635c..0000000
--- a/old/sketch copy.ino	
+++ /dev/null
@@ -1,113 +0,0 @@
-#include <lcdgfx.h>
-#include <nano_engine_v2.h>
-#include <nano_gfx_types.h>
-
-#define BAUD_RATE   115200
-#include <Arduino.h>
-#include <lcdgfx.h>
-// The parameters are  RST pin, BUS number, CS pin, DC pin, FREQ (0 means default), CLK pin, MOSI pin
-//DisplaySSD1325_128x64_SPI display(3,{-1, 4, 5, 0,-1,-1});   // Use this line for Atmega328p (3=RST, 4=CE, 5=D/C)
-//DisplaySSD1325_128x64_I2C display(-1);                    // or (-1,{busId, addr, scl, sda, frequency}). This line is suitable for most platforms by default
-//DisplaySSD1325_128x64_SPI display(22,{-1, 5, 21, 0,-1,-1}); // Use this line for ESP32 (VSPI)  (gpio22=RST, gpio5=CE for VSPI, gpio21=D/C)
-//DisplaySSD1325_128x64_SPI display(4,{-1, -1, 5, 0,-1,-1});  // Use this line for ESP8266 Arduino style rst=4, CS=-1, DC=5
-                                                          // And ESP8266 RTOS IDF. GPIO4 is D2, GPIO5 is D1 on NodeMCU boards
-
-
-DisplaySSD1306_128x64_I2C display(-1);
-
-#define PANEL_RES_X 128
-#define PANEL_RES_Y 64
-#define SIM_WIDTH (PANEL_RES_X)
-#define SIM_HEIGHT PANEL_RES_Y
-#define NUM_PARTICLES 255
-#define FIXED_SHIFT 8
-
-typedef int16_t fixed_t;
-#define TO_FIXED(x) ((fixed_t)((x) * (1 << FIXED_SHIFT)))
-#define TO_FLOAT(x) ((float)(x) / (1 << FIXED_SHIFT))
-
-struct Particle {
-  fixed_t x, y;
-  fixed_t vx, vy;
-};
-Particle particles[NUM_PARTICLES];
-
-const int canvasWidth = SIM_WIDTH; // Width must be power of 2, i.e. 16, 32, 64, 128...
-const int canvasHeight = SIM_HEIGHT; // Height must be divided on 8, i.e. 8, 16, 24, 32...
-const fixed_t gravity = TO_FIXED(0.4);
-const fixed_t damping = TO_FIXED(0.6);
-const fixed_t border = TO_FIXED(0.1);
-const uint32_t frame_time = 33; // ~30 FPS
-
-uint8_t canvasData[canvasWidth*(canvasHeight/8)];
-NanoCanvas1 canvas(canvasWidth, canvasHeight, canvasData);
-
-void updatePhysics() {
-  const fixed_t max_x = TO_FIXED(SIM_WIDTH-1);
-  const fixed_t max_y = TO_FIXED(SIM_HEIGHT-1);
-
-  for (int i = 0; i < NUM_PARTICLES; i++) {
-    particles[i].vy += gravity;
-    particles[i].x += particles[i].vx;
-    particles[i].y += particles[i].vy;
-
-    particles[i].x = constrain(particles[i].x, TO_FIXED(0), max_x);
-    particles[i].y = constrain(particles[i].y, TO_FIXED(0), max_y);
-
-    // Boundary collisions
-    if (TO_FLOAT(particles[i].x) <= TO_FLOAT(border) || TO_FLOAT(particles[i].x) >= (SIM_WIDTH - TO_FLOAT(border))) {
-      particles[i].vx = -particles[i].vx * damping;
-      particles[i].x = constrain(particles[i].x, border, TO_FIXED(SIM_WIDTH) - border);
-    }
-    if (TO_FLOAT(particles[i].y) < TO_FLOAT(border) || TO_FLOAT(particles[i].y) >= (SIM_HEIGHT - TO_FLOAT(border))) {
-      particles[i].vy = -particles[i].vy * damping;
-      particles[i].y = constrain(particles[i].y, border, TO_FIXED(SIM_HEIGHT) - border);
-    }
-
-  }
-}
-
-void drawParticles() {
-  canvas.clear();
-  for (int i = 0; i < NUM_PARTICLES; i++) {
-    int x = constrain(TO_FLOAT(particles[i].x), 0, SIM_WIDTH-1);
-    int y = constrain(TO_FLOAT(particles[i].y), 0, SIM_HEIGHT-1);
-    
-    canvas.putPixel(x, y);
-  }
-  display.drawCanvas(0,0,canvas);
-}
-
-// Setup, initialize 
-void setup() 
-{
-  //Serial.begin(115200);
-  display.begin();
-  display.clear();
-  canvas.setMode( CANVAS_MODE_TRANSPARENT );
-  // display.setColor( 65535 );
-  
-  // Initialize particles
-  for (int i = 0; i < NUM_PARTICLES; i++) {
-    particles[i].x = TO_FIXED(random(SIM_WIDTH-1));
-    particles[i].y = TO_FIXED(random(SIM_HEIGHT/2));
-    particles[i].vx = TO_FIXED((random(-100, 100)/100.0) * 0.7);
-    particles[i].vy = TO_FIXED((random(-50, 50)/100.0));
-  }
-}
-
-// Loop forever
-void loop() 
-{
-  // static uint32_t last_frame = 0;
-  
-  
-  //if (millis() - last_frame >= frame_time) {
-    //Serial.print(display.getColor());
-    //Serial.print("Hi");  
-    updatePhysics();
-    drawParticles();
-    //last_frame = millis(); 
-  //}
-  lcd_delay(frame_time);
-}
diff --git a/old/sketch.ino b/old/sketch.ino
deleted file mode 100644
index a0e635c..0000000
--- a/old/sketch.ino
+++ /dev/null
@@ -1,113 +0,0 @@
-#include <lcdgfx.h>
-#include <nano_engine_v2.h>
-#include <nano_gfx_types.h>
-
-#define BAUD_RATE   115200
-#include <Arduino.h>
-#include <lcdgfx.h>
-// The parameters are  RST pin, BUS number, CS pin, DC pin, FREQ (0 means default), CLK pin, MOSI pin
-//DisplaySSD1325_128x64_SPI display(3,{-1, 4, 5, 0,-1,-1});   // Use this line for Atmega328p (3=RST, 4=CE, 5=D/C)
-//DisplaySSD1325_128x64_I2C display(-1);                    // or (-1,{busId, addr, scl, sda, frequency}). This line is suitable for most platforms by default
-//DisplaySSD1325_128x64_SPI display(22,{-1, 5, 21, 0,-1,-1}); // Use this line for ESP32 (VSPI)  (gpio22=RST, gpio5=CE for VSPI, gpio21=D/C)
-//DisplaySSD1325_128x64_SPI display(4,{-1, -1, 5, 0,-1,-1});  // Use this line for ESP8266 Arduino style rst=4, CS=-1, DC=5
-                                                          // And ESP8266 RTOS IDF. GPIO4 is D2, GPIO5 is D1 on NodeMCU boards
-
-
-DisplaySSD1306_128x64_I2C display(-1);
-
-#define PANEL_RES_X 128
-#define PANEL_RES_Y 64
-#define SIM_WIDTH (PANEL_RES_X)
-#define SIM_HEIGHT PANEL_RES_Y
-#define NUM_PARTICLES 255
-#define FIXED_SHIFT 8
-
-typedef int16_t fixed_t;
-#define TO_FIXED(x) ((fixed_t)((x) * (1 << FIXED_SHIFT)))
-#define TO_FLOAT(x) ((float)(x) / (1 << FIXED_SHIFT))
-
-struct Particle {
-  fixed_t x, y;
-  fixed_t vx, vy;
-};
-Particle particles[NUM_PARTICLES];
-
-const int canvasWidth = SIM_WIDTH; // Width must be power of 2, i.e. 16, 32, 64, 128...
-const int canvasHeight = SIM_HEIGHT; // Height must be divided on 8, i.e. 8, 16, 24, 32...
-const fixed_t gravity = TO_FIXED(0.4);
-const fixed_t damping = TO_FIXED(0.6);
-const fixed_t border = TO_FIXED(0.1);
-const uint32_t frame_time = 33; // ~30 FPS
-
-uint8_t canvasData[canvasWidth*(canvasHeight/8)];
-NanoCanvas1 canvas(canvasWidth, canvasHeight, canvasData);
-
-void updatePhysics() {
-  const fixed_t max_x = TO_FIXED(SIM_WIDTH-1);
-  const fixed_t max_y = TO_FIXED(SIM_HEIGHT-1);
-
-  for (int i = 0; i < NUM_PARTICLES; i++) {
-    particles[i].vy += gravity;
-    particles[i].x += particles[i].vx;
-    particles[i].y += particles[i].vy;
-
-    particles[i].x = constrain(particles[i].x, TO_FIXED(0), max_x);
-    particles[i].y = constrain(particles[i].y, TO_FIXED(0), max_y);
-
-    // Boundary collisions
-    if (TO_FLOAT(particles[i].x) <= TO_FLOAT(border) || TO_FLOAT(particles[i].x) >= (SIM_WIDTH - TO_FLOAT(border))) {
-      particles[i].vx = -particles[i].vx * damping;
-      particles[i].x = constrain(particles[i].x, border, TO_FIXED(SIM_WIDTH) - border);
-    }
-    if (TO_FLOAT(particles[i].y) < TO_FLOAT(border) || TO_FLOAT(particles[i].y) >= (SIM_HEIGHT - TO_FLOAT(border))) {
-      particles[i].vy = -particles[i].vy * damping;
-      particles[i].y = constrain(particles[i].y, border, TO_FIXED(SIM_HEIGHT) - border);
-    }
-
-  }
-}
-
-void drawParticles() {
-  canvas.clear();
-  for (int i = 0; i < NUM_PARTICLES; i++) {
-    int x = constrain(TO_FLOAT(particles[i].x), 0, SIM_WIDTH-1);
-    int y = constrain(TO_FLOAT(particles[i].y), 0, SIM_HEIGHT-1);
-    
-    canvas.putPixel(x, y);
-  }
-  display.drawCanvas(0,0,canvas);
-}
-
-// Setup, initialize 
-void setup() 
-{
-  //Serial.begin(115200);
-  display.begin();
-  display.clear();
-  canvas.setMode( CANVAS_MODE_TRANSPARENT );
-  // display.setColor( 65535 );
-  
-  // Initialize particles
-  for (int i = 0; i < NUM_PARTICLES; i++) {
-    particles[i].x = TO_FIXED(random(SIM_WIDTH-1));
-    particles[i].y = TO_FIXED(random(SIM_HEIGHT/2));
-    particles[i].vx = TO_FIXED((random(-100, 100)/100.0) * 0.7);
-    particles[i].vy = TO_FIXED((random(-50, 50)/100.0));
-  }
-}
-
-// Loop forever
-void loop() 
-{
-  // static uint32_t last_frame = 0;
-  
-  
-  //if (millis() - last_frame >= frame_time) {
-    //Serial.print(display.getColor());
-    //Serial.print("Hi");  
-    updatePhysics();
-    drawParticles();
-    //last_frame = millis(); 
-  //}
-  lcd_delay(frame_time);
-}
diff --git a/old/state_bak.ino b/old/state_bak.ino
deleted file mode 100644
index 9862123..0000000
--- a/old/state_bak.ino
+++ /dev/null
@@ -1,158 +0,0 @@
-#include <Arduino.h>
-#include <FastTrig.h>
-#include "I2Cdev.h"
-// #include "MPU6050_6Axis_MotionApps20.h"
-#include "MPU6050_6Axis_MotionApps612.h"
-
-
-MPU6050 mpu;
-
-#define DEBUG
-#define IMU_ADDRESS 0x68
-#define LED 17
-// External interrupt source
-#define EXT0_PIN 34
-
-/*---MPU6050 Control/Status Variables---*/
-bool DMPReady = false;  // Set true if DMP init was successful
-uint8_t MPUIntStatus;   // Holds actual interrupt status byte from MPU
-uint8_t devStatus;      // Return status after each device operation (0 = success, !0 = error)
-uint16_t packetSize;    // Expected DMP packet size (default is 42 bytes)
-uint8_t FIFOBuffer[64]; // FIFO storage buffer
-/*---Orientation/Motion Variables---*/ 
-Quaternion q;           // [w, x, y, z]         Quaternion container
-VectorInt16 aa;         // [x, y, z]            Accel sensor measurements
-VectorInt16 gy;         // [x, y, z]            Gyro sensor measurements
-VectorInt16 aaReal;     // [x, y, z]            Gravity-free accel sensor measurements
-VectorInt16 aaWorld;    // [x, y, z]            World-frame accel sensor measurements
-VectorFloat gravity;    // [x, y, z]            Gravity vector
-uint16_t fifoCount;
-float euler[3];         // [psi, theta, phi]    Euler angle container
-float ypr[3];           // [yaw, pitch, roll]   Yaw/Pitch/Roll container and gravity vector
-
-/*------Interrupt detection routine------*/
-volatile bool MPUInterrupt = true;     // Indicates whether MPU6050 interrupt pin has gone high
-void DMPDataReady() {
-  MPUInterrupt = true;
-}
-
-
-
-bool blinkState = true;
-
-// Setup serial communication
-
-void initSerial() {
-  Serial.begin(115200);
-  while (!Serial) {
-    ;
-  }
-}
-
-void initI2C() {
-  Wire.begin();
-}
-
-void initMpu() {
-  // set up MPU
-  mpu.reset();
-  delay(100);
-  mpu.resetSensors();
-  delay(100);
-  mpu.setClockSource(MPU6050_CLOCK_PLL_XGYRO);
-  mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
-  mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_250);
-  mpu.setSleepEnabled(false);
-  mpu.setStandbyXAccelEnabled(false);
-  mpu.setStandbyYAccelEnabled(false);
-  mpu.setStandbyZAccelEnabled(false);
-  mpu.setExternalFrameSync(MPU6050_EXT_SYNC_DISABLED);
-
-  // See https://github.com/ElectronicCats/mpu6050/blob/master/src/MPU6050.cpp
-  mpu.setDLPFMode(MPU6050_DLPF_BW_42);
-  delay(100);
-  mpu.setDHPFMode(MPU6050_DHPF_HOLD);
-
-  mpu.setMotionDetectionThreshold(10);
-  mpu.setMotionDetectionDuration(2);
-  mpu.setInterruptMode(MPU6050_INTMODE_ACTIVEHIGH);
-  mpu.setAccelerometerPowerOnDelay(2); //max
-  mpu.setInterruptLatch(MPU6050_INTLATCH_WAITCLEAR);
-  mpu.setInterruptLatchClear(MPU6050_INTCLEAR_STATUSREAD);
-  mpu.setIntEnabled(1 << MPU6050_INTERRUPT_MOT_BIT);
-  mpu.setInterruptDrive(MPU6050_INTDRV_PUSHPULL);
-  mpu.setStandbyXAccelEnabled(false);
-  mpu.setStandbyYAccelEnabled(false);
-  mpu.setStandbyZAccelEnabled(false);
-}
-
-
-void setup() {
-  initSerial();
-  initI2C();
-  initMpu();
-  pinMode(LED, OUTPUT);
-  pinMode(EXT0_PIN, INPUT);
-  digitalWrite(LED, blinkState);
-  Serial.println("Initializing MPU...");
- 
-  /*Enable Arduino interrupt detection*/
-  Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
-  Serial.println(F(")..."));
-  attachInterrupt(digitalPinToInterrupt(EXT0_PIN), DMPDataReady, RISING);
-  // attachInterrupt(digitalPinToInterrupt(EXT0_PIN), DMPDataReady, RISING);
-  MPUIntStatus = mpu.getIntStatus();
-  // mpu.setInterruptLatchClear(true);
-  Serial.println(MPUIntStatus);
-  // Serial.println(devStatus);
-  /* Set the DMP Ready flag so the main loop() function knows it is okay to use it */
-  Serial.println(F("DMP ready! Waiting for first interrupt..."));
-  DMPReady = true;
-  // packetSize = mpu.dmpGetFIFOPacketSize(); //Get expected DMP packet size for later comparison
-  // }
-}
-
-
-void reportIMU() {
-  if (!DMPReady) return; // Stop the program if DMP programming fails.
-  if (!MPUInterrupt) return;
-  blinkState = !blinkState;
-  digitalWrite(LED, blinkState);
-  MPUIntStatus = mpu.getIntStatus();
-  // mpu.setInterruptLatchClear(true);
-  // mpu.setInterruptLat
-  MPUInterrupt = false;
-  return;
-  /* Read a packet from FIFO */
-  fifoCount = mpu.getFIFOCount();
-	// check for overflow (this should never happen unless our code is too inefficient)
-	if ((MPUIntStatus & 0x10) || fifoCount == 1024) {
-		// reset so we can continue cleanly
-		mpu.resetFIFO();
-		Serial.println(F("FIFO overflow!, giro descompensat!!"));
-		Serial.print("&");
-		// otherwise, check for DMP data ready interrupt (this should happen frequently)
-	}
-	else if (MPUIntStatus & 0x02) {
-    if (mpu.dmpGetCurrentFIFOPacket(FIFOBuffer)) { // Get the Latest packet 
-        mpu.dmpGetQuaternion(&q, FIFOBuffer);
-        mpu.dmpGetGravity(&gravity, &q);
-    }
-  } else if (MPUIntStatus & (1<<MPU6050_INTERRUPT_MOT_BIT)) 
-  //mpu.setInterruptLatchClear(true);
-  MPUInterrupt = false;
-}
-
-
-void loop() {
-  static uint32_t last_frame = 0;
-  //lcd_delay(5000);
-  //delay(1000);
-  if(millis() - last_frame >= 33) {
-    reportIMU();
-    last_frame = millis();
-  }
-  // else {
-  //  delay(millis() - last_frame);
-  //}
-}
diff --git a/old/trash.ino b/old/trash.ino
deleted file mode 100644
index 0af470f..0000000
--- a/old/trash.ino
+++ /dev/null
@@ -1,361 +0,0 @@
-#include <Arduino.h>
-#include <lcdgfx.h>
-#include <FastTrig.h>
-#include "I2Cdev.h"
-// #include "MPU6050_6Axis_MotionApps20.h"
-#include "MPU6050_6Axis_MotionApps612.h"
-
-DisplaySSD1306_128x64_I2C display(-1); 
-MPU6050 mpu;
-
-// Simulation constants
-#define SIM_WIDTH 128
-#define SIM_HEIGHT 64
-#define NUM_PARTICLES 1000
-#define PARTICLE_RADIUS 2
-#define GRAVITY 1.0f
-#define DAMPING 0.4f
-#define PRESSURE_RADIUS 3.5f
-#define PRESSURE_FORCE 0.9f
-#define MAX_VEL 1.0f
-#define IMU_ADDRESS 0x68
-#define OUTPUT_READABLE_YAWPITCHROLL
-#define LED 2
-
-// I2C device found at address 0x3C  ! // OLED
-// I2C device found at address 0x68  ! // IMU
-
-typedef float f32 __attribute__((aligned(4)));
-struct Particle {
-  f32 x, y;
-  f32 vx, vy;
-};
-
-
-inline float fast_sqrt(float x) {
-  union { float f; uint32_t i; } u;
-  u.f = x;
-  u.i = 0x5f375a86 - (u.i >> 1);
-  return u.f * (1.5f - 0.5f * x * u.f * u.f);
-}
-
-Particle particles[NUM_PARTICLES];
-uint8_t canvasData[SIM_WIDTH*(SIM_HEIGHT/8)]; // because of 1bit display, not RGB
-NanoCanvas1 canvas(SIM_WIDTH, SIM_HEIGHT, canvasData);
-
-
-#define GRID_SIZE 16
-#define CELL_SIZE (SIM_WIDTH/GRID_SIZE)
-
-int const INTERRUPT_PIN = 18;
-/*---MPU6050 Control/Status Variables---*/
-bool DMPReady = false;  // Set true if DMP init was successful
-uint8_t MPUIntStatus;   // Holds actual interrupt status byte from MPU
-uint8_t devStatus;      // Return status after each device operation (0 = success, !0 = error)
-uint16_t packetSize;    // Expected DMP packet size (default is 42 bytes)
-uint8_t FIFOBuffer[64]; // FIFO storage buffer
-/*---Orientation/Motion Variables---*/ 
-Quaternion q;           // [w, x, y, z]         Quaternion container
-VectorInt16 aa;         // [x, y, z]            Accel sensor measurements
-VectorInt16 gy;         // [x, y, z]            Gyro sensor measurements
-VectorInt16 aaReal;     // [x, y, z]            Gravity-free accel sensor measurements
-VectorInt16 aaWorld;    // [x, y, z]            World-frame accel sensor measurements
-VectorFloat gravity;    // [x, y, z]            Gravity vector
-uint16_t fifoCount;
-float euler[3];         // [psi, theta, phi]    Euler angle container
-float ypr[3];           // [yaw, pitch, roll]   Yaw/Pitch/Roll container and gravity vector
-
-/*------Interrupt detection routine------*/
-volatile bool MPUInterrupt = true;     // Indicates whether MPU6050 interrupt pin has gone high
-void DMPDataReady() {
-  MPUInterrupt = true;
-}
-
-
-
-struct GridCell {
-  uint8_t particles[10];
-  uint8_t count;
-};
-
-GridCell grid[GRID_SIZE][GRID_SIZE];
-
-bool blinkState;
-
-void buildSpatialGrid() {
-  memset(grid, 0, sizeof(grid));
-
-  for(int i=0; i<NUM_PARTICLES; i++) {
-    #ifdef __AVR__
-      float x = TO_FLOAT(particles[i].x);
-      float y = TO_FLOAT(particles[i].y);
-    #else
-      float x = particles[i].x;
-      float y = particles[i].y;
-    #endif
-    
-    int gx = constrain(x / CELL_SIZE, 0, GRID_SIZE-1);
-    int gy = constrain(y / CELL_SIZE, 0, GRID_SIZE-1);
-    
-    if(grid[gx][gy].count < 10) {
-      grid[gx][gy].particles[grid[gx][gy].count++] = i;
-    }
-  }
-}
-
-
-void setup() {
-  // String str; // Hhack
-  Serial.begin(38400);
-  while (!Serial) {
-    ;
-  }
-  Serial.println("Initializing MPU...");
-  /*--Start I2C interface--*/
-  #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
-    Wire.begin(); 
-  #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
-    Fastwire::setup(400, true);
-  #endif
-  mpu.initialize();
-  pinMode(INTERRUPT_PIN, INPUT);
-  pinMode(LED,OUTPUT);
-  Serial.println("Testing MPU6050 connection...");
-  // if(mpu.testConnection() ==  false){
-  //   Serial.println("MPU6050 connection failed");
-  //   while(true);
-  // }
-  // else{
-  devStatus = mpu.dmpInitialize();
-  Serial.println("MPU6050 connection successful");
-
-  mpu.setSleepEnabled(false);
-  mpu.setStandbyXAccelEnabled(false);
-  mpu.setStandbyYAccelEnabled(false);
-  mpu.setStandbyZAccelEnabled(false);
-  mpu.setDHPFMode(0);
-  mpu.setIntMotionEnabled(true);
-  mpu.setMotionDetectionDuration(1);
-  mpu.setMotionDetectionThreshold(20);
-  
-
-
-  mpu.setXGyroOffset(-69);
-  mpu.setYGyroOffset(-48);
-  mpu.setZGyroOffset(-19);
-  mpu.setXAccelOffset(-5158);
-  mpu.setYAccelOffset(-4576);
-  mpu.setZAccelOffset(7687);
-
-  mpu.CalibrateAccel(6);  // Calibration Time: generate offsets and calibrate our MPU6050
-  mpu.CalibrateGyro(6);
-  Serial.println("These are the Active offsets: ");
-  mpu.PrintActiveOffsets();
-  Serial.println(F("Enabling DMP..."));   //Turning ON DMP
-  mpu.setDMPEnabled(true);
-
-  delay(100);
-
-  mpu.setDHPFMode(7);
-  mpu.setWakeFrequency(5);
-  mpu.setWakeCycleEnabled(true);
-
-
- 
-
-  /*Enable Arduino interrupt detection*/
-  Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
-  Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));
-  Serial.println(F(")..."));
-  attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), DMPDataReady, RISING);
-  MPUIntStatus = mpu.getIntStatus();
-  Serial.println(MPUIntStatus);
-  Serial.println(devStatus);
-  /* Set the DMP Ready flag so the main loop() function knows it is okay to use it */
-  Serial.println(F("DMP ready! Waiting for first interrupt..."));
-  DMPReady = true;
-  packetSize = mpu.dmpGetFIFOPacketSize(); //Get expected DMP packet size for later comparison
-  // }
-  // setup display
-  display.begin();
-  display.clear();
-  canvas.setMode(CANVAS_MODE_TRANSPARENT);
-
-  // Initialize particles in a droplet pattern
-  float cx = SIM_WIDTH/2;
-  float cy = SIM_HEIGHT/4;
-  for(int i=0; i<NUM_PARTICLES; i++) {
-    float angle = random(360) * PI / 180.0;
-    float radius = random(10);
-    particles[i].x = cx + icos(angle) * radius;
-    particles[i].y = cy + isin(angle) * radius;
-    particles[i].vx = random(-50,50)/25.0;  // -2 to +2
-    particles[i].vy = random(-25,50)/25.0;   // -1 to +2
-    //Serial.print("\nParticle ");
-    //Serial.print(i);
-    //Serial.print(" done");
-  }
-}
-
-void applyPhysics() {
-  // Build spatial grid
-  buildSpatialGrid();
-
-  // Interactions using grid
-  const float PRESSURE_RADIUS_SQ = PRESSURE_RADIUS * PRESSURE_RADIUS;
-  
-  for(int i=0; i<NUM_PARTICLES; i++) {
-    const int gx = particles[i].x / CELL_SIZE;
-    const int gy = particles[i].y / CELL_SIZE;
-
-    // Check 3x3 grid around particle
-    for(int dx=-1; dx<=1; dx++) {
-      for(int dy=-1; dy<=1; dy++) {
-        if(gx+dx < 0 || gx+dx >= GRID_SIZE) continue;
-        if(gy+dy < 0 || gy+dy >= GRID_SIZE) continue;
-        
-        GridCell &cell = grid[gx+dx][gy+dy];
-        for(int c=0; c<cell.count; c++) {
-          const int j = cell.particles[c];
-          if(j <= i) continue; // Avoid duplicate pairs
-
-          const float dx = particles[j].x - particles[i].x;
-          const float dy = particles[j].y - particles[i].y;
-          const float dist_sq = dx*dx + dy*dy;
-
-          if(dist_sq < PRESSURE_RADIUS_SQ && dist_sq > 0.01f) {
-            const float dist = fast_sqrt(dist_sq) + 0.001f;
-            const float force = PRESSURE_FORCE * (1.0f - dist/PRESSURE_RADIUS);
-            
-            // Only apply horizontal forces to preserve gravity
-            particles[i].vx -= force * dx/dist;
-            particles[j].vx += force * dx/dist;
-            
-            // Reduce vertical force impact
-            particles[i].vy -= force * dy/dist * 0.3f;
-            particles[j].vy += force * dy/dist * 0.3f;
-          }
-        }
-      }
-    }
-  }
-
-    // Gravity and movement
-  for(int i=0; i<NUM_PARTICLES; i++) {
-    particles[i].vy += GRAVITY;
-    particles[i].x += particles[i].vx;
-    particles[i].y += particles[i].vy;
-    particles[i].vx = constrain(particles[i].vx, -MAX_VEL, MAX_VEL);
-    particles[i].vy = constrain(particles[i].vy, -MAX_VEL, MAX_VEL);
-    // X-axis
-    if(particles[i].x <= 0 || particles[i].x >= SIM_WIDTH-1) {
-      particles[i].vx *= -DAMPING;
-      particles[i].x = constrain(particles[i].x, 1, SIM_WIDTH-2);
-    }
-    
-    // Y-axis
-    if(particles[i].y <= 0 || particles[i].y >= SIM_HEIGHT-1) {
-      particles[i].vy *= -DAMPING;
-      particles[i].y = constrain(particles[i].y, 1, SIM_HEIGHT-2);
-    }
-  }
-}
-
-// Direct canvas buffer access (replace drawParticles)
-void drawParticles() {
-  // Clear canvas by direct memory access
-  memset(canvasData, 0, sizeof(canvasData));
-  // canvas.clear();
-  for(int i=0; i<NUM_PARTICLES; i++) {
-      int x = constrain(static_cast<int>(particles[i].x + 0.5f), 0, SIM_WIDTH-1);
-      int y = constrain(static_cast<int>(particles[i].y + 0.5f), 0, SIM_HEIGHT-1);
-
-    #if PARTICLE_RADIUS == 1
-      canvas.putPixel(x, y);
-    #else
-      canvas.drawCircle(x,y,PARTICLE_RADIUS-1);
-    #endif
-  }
-  
-  display.drawCanvas(0,0,canvas);
-}
-
-void reportIMU() {
-  if (!DMPReady) return; // Stop the program if DMP programming fails.
-  if (!MPUInterrupt) return;
-  MPUIntStatus = mpu.getIntStatus();
-  /* Read a packet from FIFO */
-  fifoCount = mpu.getFIFOCount();
-	// check for overflow (this should never happen unless our code is too inefficient)
-	if ((MPUIntStatus & 0x10) || fifoCount == 1024) {
-		// reset so we can continue cleanly
-		mpu.resetFIFO();
-		Serial.println(F("FIFO overflow!, giro descompensat!!"));
-		Serial.print("&");
-		// otherwise, check for DMP data ready interrupt (this should happen frequently)
-	}
-	else if (MPUIntStatus & 0x02) {
-    if (mpu.dmpGetCurrentFIFOPacket(FIFOBuffer)) { // Get the Latest packet 
-      #ifdef OUTPUT_READABLE_YAWPITCHROLL
-        /* Display Euler angles in degrees */
-        mpu.dmpGetQuaternion(&q, FIFOBuffer);
-        mpu.dmpGetGravity(&gravity, &q);
-        mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
-        Serial.print("ypr\t");
-        Serial.print(ypr[0] * 180/M_PI);
-        Serial.print("\t");
-        Serial.print(ypr[1] * 180/M_PI);
-        Serial.print("\t");
-        Serial.println(ypr[2] * 180/M_PI);
-      #endif
-          
-      #ifdef OUTPUT_READABLE_QUATERNION
-        /* Display Quaternion values in easy matrix form: [w, x, y, z] */
-        mpu.dmpGetQuaternion(&q, FIFOBuffer);
-        Serial.print("quat\t");
-        Serial.print(q.w);
-        Serial.print("\t");
-        Serial.print(q.x);
-        Serial.print("\t");
-        Serial.print(q.y);
-        Serial.print("\t");
-        Serial.println(q.z);
-      #endif
-      #ifdef OUTPUT_READABLE_WORLDACCEL
-        /* Display initial world-frame acceleration, adjusted to remove gravity
-        and rotated based on known orientation from Quaternion */
-        mpu.dmpGetQuaternion(&q, FIFOBuffer);
-        mpu.dmpGetAccel(&aa, FIFOBuffer);
-        mpu.dmpGetGravity(&gravity, &q);
-        mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
-        mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
-        Serial.print("aworld\t");
-        Serial.print(aaWorld.x);
-        Serial.print("\t");
-        Serial.print(aaWorld.y);
-        Serial.print("\t");
-        Serial.println(aaWorld.z);
-      #endif
-      
-      /* Blink LED to indicate activity */
-      blinkState = !blinkState;
-      digitalWrite(LED, blinkState);
-    }
-  }
-  MPUInterrupt = false;
-}
-
-
-void loop() {
-  static uint32_t last_frame = 0;
-  //lcd_delay(5000);
-  drawParticles();
-  //delay(1000);
-  if(millis() - last_frame >= 33) {
-    last_frame = millis();
-    applyPhysics();
-    reportIMU();
-  } else {
-    lcd_delay(millis() - last_frame);
-  }
-}