diff --git a/Servo/src/ServoController.cpp b/Servo/src/ServoController.cpp
index 8a19c52..2075f8a 100644
--- a/Servo/src/ServoController.cpp
+++ b/Servo/src/ServoController.cpp
@@ -74,16 +74,9 @@ void ServoController::changeMode(double startAngle, double stopAngle, double spe
 /*************************************************************************************************/
 void ServoController::init()
 {
-
     _modbusWrapper.init();
     _modbusWrapper.connectToDevice(initiateConfig());
 
-    // timer = new QTimer();
-    //  timer->setInterval(2000);
-    // timer->start();
-    // connect(timer, &QTimer::timeout, &this, &ServoController::handleGetRequestFromServo);
-    // timer->stop();
-
 }
 
 /*************************************************************************************************/
@@ -107,7 +100,7 @@ void ServoController::resetAzimuth()
 /*************************************************************************************************/
 void ServoController::fix(double angle)
 {
-    changeMode(angle, angle,  5/6.0);
+    changeMode(angle, angle, 5/6.0);
 }
 
 /*************************************************************************************************/
@@ -162,7 +155,7 @@ double ServoController::getAngleOffset()
 /*************************************************************************************************/
 void ServoController::setAngleOffset(double offset)
 {
-    _modbusWrapper.setSingleRegister(SRV_ZERO_OFFSET_ANGLE, static_cast<quint16>(offset*SRV_ANGLE_FACTOR));
+    _modbusWrapper.setSingleRegister(SRV_ZERO_OFFSET_ANGLE, static_cast<quint16>(offset * SRV_ANGLE_FACTOR));
 }
 
 /*************************************************************************************************/
diff --git a/Servo/src/ServoController.cpp.autosave b/Servo/src/ServoController.cpp.autosave
deleted file mode 100644
index 5b054a8..0000000
--- a/Servo/src/ServoController.cpp.autosave
+++ /dev/null
@@ -1,173 +0,0 @@
-#include "ServoController.h"
-
-
-ServoController::ServoController()
-{
-}
-
-/*************************************************************************************************/
-ModbusConfig ServoController::initiateConfig()
-{
-    ModbusConfig _config;
-    _config.baud =QSerialPort::Baud19200;
-    _config.parity = QSerialPort::EvenParity;
-    _config.dataBits = QSerialPort::Data8;
-    _config.stopBits = QSerialPort::OneStop;
-    _config.responseTime = 2000;
-    return _config;
-
-}
-
-/*************************************************************************************************/
-void ServoController::apply()
-{
-    _modbusWrapper.setSingleRegister(SRV_APPLY_SETTING_REG, SRV_APPLY_SETTING_VAL);
-}
-
-/*************************************************************************************************/
-void ServoController::enableDrive()
-{
-    _modbusWrapper.setSingleRegister(SRV_ENABLE_DRIVE_REG, 3);
-    apply();
-}
-
-void ServoController::setStartStop(bool start)
-{
-    if(start)
-        _modbusWrapper.setSingleRegister(SRV_START_STOP_REG, 3);
-    else
-        _modbusWrapper.setSingleRegister(SRV_START_STOP_REG, 0);
-    apply();
-}
-
-/*************************************************************************************************/
-void ServoController::setStartAngle(double angle)
-{
-    _modbusWrapper.setSingleRegister(SRV_START_ANGLE_INT_PART_REG, static_cast<quint16>(angle));
-    _modbusWrapper.setSingleRegister(SRV_START_ANGLE_FRAC_PART_REG, static_cast<quint16>((angle - (static_cast<int>(angle))) * 100));
-}
-
-/*************************************************************************************************/
-void ServoController::setStopAngle(double angle)
-{
-    _modbusWrapper.setSingleRegister(SRV_STOP_ANGLE_INT_PART_REG, static_cast<quint16>(angle));
-    _modbusWrapper.setSingleRegister(SRV_STOP_ANGLE_FRAC_PART_REG, static_cast<quint16>((angle - (static_cast<int>(angle))) * 100));
-}
-
-/*************************************************************************************************/
-void ServoController::setSpeed(double speed)
-{
-    _modbusWrapper.setSingleRegister(SRV_AZIMUTH_SPEED_REG, static_cast<quint16>(speed*SRV_SPEED_FACTOR));
-}
-
-/*************************************************************************************************/
-void ServoController::changeMode(double startAngle, double stopAngle, double speed)
-{
-    setStartAngle(startAngle);
-    setStopAngle(stopAngle);
-    setSpeed(speed);
-    setStartStop(true);
-    enableDrive();
-    apply();
-}
-
-/*************************************************************************************************/
-void ServoController::init()
-{
-    _modbusWrapper.init();
-    _modbusWrapper.connectToDevice(initiateConfig());
-
-}
-
-/*************************************************************************************************/
-void ServoController::startMoving()
-{
-    setStartStop(true);
-}
-
-/*************************************************************************************************/
-void ServoController::stopMoving()
-{
-    setStartStop(false);
-}
-
-/*************************************************************************************************/
-void ServoController::resetAzimuth()
-{
-    _modbusWrapper.setSingleRegister(SRV_CALIBRATE_REG, SRV_CALIBRATION_VAL);
-}
-
-/*************************************************************************************************/
-void ServoController::fix(double angle)
-{
-    changeMode(angle, angle,  5/6.0);
-}
-
-/*************************************************************************************************/
-void ServoController::sector(double startAngle, double stopAngle, double speed)
-{
-    changeMode(startAngle, stopAngle, speed);
-}
-
-/*************************************************************************************************/
-double ServoController::getSpeed()
-{
-    double speed;
-    QVector<quint16> speedVector;
-    speedVector = _modbusWrapper.getHoldingRegister(SRV_AZIMUTH_SPEED_REG,1);
-    speed  = speedVector[0] / SRV_SPEED_FACTOR;
-    return speed;
-}
-
-/*************************************************************************************************/
-double ServoController::getStopAngle()
-{
-    double speed;
-    QVector<quint16> speedVector1, speedVector2;
-    speedVector1 = _modbusWrapper.getHoldingRegister(SRV_STOP_ANGLE_INT_PART_REG,1);
-    speedVector2 = _modbusWrapper.getHoldingRegister(SRV_STOP_ANGLE_FRAC_PART_REG,1);
-    speed  = (speedVector1[0] + speedVector2[0]) / SRV_ANGLE_FACTOR;
-    return speed;
-}
-
-/*************************************************************************************************/
-double ServoController::getStartAngle()
-{
-    double speed;
-    QVector<quint16> speedVector1, speedVector2;
-    speedVector1 = _modbusWrapper.getHoldingRegister(SRV_START_ANGLE_INT_PART_REG,1);
-    speedVector2 = _modbusWrapper.getHoldingRegister(SRV_START_ANGLE_FRAC_PART_REG,1);
-    speed  = (speedVector1[0] + speedVector2[0]) / SRV_ANGLE_FACTOR;
-    return speed;
-}
-
-/*************************************************************************************************/
-double ServoController::getAngleOffset()
-{
-    double angleOffset;
-    QVector<quint16> angleOffsetVector;
-    angleOffsetVector = _modbusWrapper.getHoldingRegister(SRV_ZERO_OFFSET_ANGLE,1);
-    angleOffset  = angleOffsetVector[0] / SRV_ANGLE_FACTOR;
-    return angleOffset;
-
-}
-
-/*************************************************************************************************/
-void ServoController::setAngleOffset(double offset)
-{
-    _modbusWrapper.setSingleRegister(SRV_ZERO_OFFSET_ANGLE, static_cast<quint16>(offset*SRV_ANGLE_FACTOR));
-}
-
-/*************************************************************************************************/
-double ServoController::getAzimuth()
-{
-    double azimuth;
-    QVector<quint16> azimuthVector;
-    azimuthVector = _modbusWrapper.getHoldingRegister(SRV_AZIMUTH_REG,1);
-    azimuth  = azimuthVector[0] / SRV_ANGLE_FACTOR;
-    return azimuth;
-
-}
-
-
-