diff --git a/src/communication.py b/src/communication.py
index a11ffd1..f227ac4 100644
--- a/src/communication.py
+++ b/src/communication.py
@@ -72,6 +72,14 @@ class Command(str, Enum):
     NOTICE = "notice"
 
 
+class Mode(str, Enum):
+    EXPLORE = "explore"
+    GOTOSTATION = "gotostation"
+    TARGET = "target"
+    TARGET2 = "target2"
+    COMPLETE = "complete"
+
+
 class Communication:
     """ Initializes communication module, connect to server, subscribe, etc. """
     def __init__(self, mqtt_client):
@@ -91,6 +99,13 @@ class Communication:
         self.subscribetochannel("explorer/" + self.uid)
         self.encode_message(Command.READY, None)
         self.client.loop_start()
+        self._status = Mode.EXPLORE
+
+    def status(self):
+        return self._status
+
+    def update(self):
+        pass
 
     # THIS FUNCTIONS SIGNATURE MUST NOT BE CHANGED
     """ Handles the callback if any message arrived """
@@ -126,6 +141,7 @@ class Communication:
         elif message.startswith(Command.PATH):
             self.stringtopath(*message[5:].rsplit(' '))
         elif message.startswith(Command.TARGET):
+            self._status = Mode.TARGET
             self.navto = self.planet.shortest_path(self.planet.getcurnode(), str2tuple(*message[7:].rsplit(',')))
         elif message.startswith(Command.NOTICE):
             print(message)
diff --git a/src/main.py b/src/main.py
index f2e7dae..dae34e7 100644
--- a/src/main.py
+++ b/src/main.py
@@ -1,10 +1,8 @@
 #!/usr/bin/env python3
-
-import ev3dev.ev3 as ev3
 import uuid
 import paho.mqtt.client as mqtt
 from planet import Direction, Planet
-from communication import Communication
+from communication import Mode, Communication
 from move import Move
 
 # DO NOT EDIT
@@ -19,6 +17,35 @@ def run():
                          clean_session=False,
                          protocol=mqtt.MQTTv31)
 
+    communication = Communication(client)
+    move = Move()
+
+    while(communication.planetname is None):
+        communication.process_messages()
+
+    print("received Planet Name")
+
+    while(communication.status() is not Mode.COMPLETE):
+        move.getstationedges()  # TODO: Register in map
+        move.turnto(90)  # TODO: add control mechanism to communication class
+        move.traversetonextstation(False)  # TODO: let same control mechanism decide if station is known, also traversetonextstation needs a return value
+
+        while(communication.status() is Mode.GOTOSTATION):  # should be triggered if current station has no unexplored edges
+            for instructions in communication.navto:
+                move.follow(instructions)
+                communication.update()
+
+        while(communication.status() is Mode.TARGET):  # should be triggered when communication gets TARGET signal from server
+            for instructions in communication.navto:
+                move.follow(instructions)
+                communication.update()  # TODO: implement update function that communicates with server and waits/checks for new instructions
+                if(communication.status() == Mode.TARGET2):  # TODO: implement Target change
+                    break
+
+        communication.update()
+
+
+
 
 # DO NOT EDIT
 if __name__ == '__main__':
diff --git a/src/move.py b/src/move.py
index 62c6dfd..6c94eed 100644
--- a/src/move.py
+++ b/src/move.py
@@ -20,6 +20,7 @@ class Move:
             self._wheel_l = Wheel('outB')
             self._wheel_r = Wheel('outC')
             self._sensor = Sensor()
+            self._calibrate()
         except OSError:
             print("ERROR: Cannot find Motor/Sensor")
         self.defaultspeed = 20
@@ -31,7 +32,7 @@ class Move:
     '''
     def _calibrate(self):
         self._sensor.calibrateRGB()
-        self.calibrateBrightness()
+        self._sensor.calibrateBrightness()
         # pass
 
 
@@ -59,15 +60,15 @@ class Move:
         self._wheel_r.turnbyamount(-turnval, self.defaultspeed)
 
     def traversetonextstation(self, isknownstation):
-        self._wheel_l.speed_set(self.edgebrightness//2)
-        self._wheel_r.speed_set(self.edgebrightness//2)
+        self._wheel_l.speed_set(self._sensor.edgebrightness//2)
+        self._wheel_r.speed_set(self._sensor.edgebrightness//2)
         self._wheel_l.run()
         self._wheel_r.run()
         while (not self._sensor.bumperwaspressed and self._sensor.lastcolor is None):
             self._sensor.refresh()
             self._sensor.checkbumper()
-            self._wheel_l.speed_set(capat100(self.maxbrightness/2 - self._sensor.getbrightness()/2)+self.defaultspeed)
-            self._wheel_r.speed_set(capat100(self._sensor.getbrightness()/2 - self.maxbrightness/2)+self.defaultspeed)
+            self._wheel_l.speed_set(capat100(self._sensor.edgebrightness/2 - self._sensor.getbrightness()/2)+self.defaultspeed)
+            self._wheel_r.speed_set(capat100(self._sensor.getbrightness()/2 - self._sensor.edgebrightness/2)+self.defaultspeed)
             self._sensor.getcolor()
             if(not isknownstation):
                 self._odometry.pos_update((self._wheel_l.getmovement(), self._wheel_r.getmovement()))
diff --git a/src/odometry.py b/src/odometry.py
index 1565138..f3dce02 100644
--- a/src/odometry.py
+++ b/src/odometry.py
@@ -76,6 +76,6 @@ class Odometry:
         self._posxy[1] = self._posxy[1] + self._v_length * math.cos(self._v_angle)
         print((self._posxy[0], self._posxy[1]))
 
-    def dir2ticks(destdir):  # return amount of ticks to turn to a given direction (current direction should be _v_angle)
-        ticksperwheel = None
+    def dir2ticks(self, destdir):  # return amount of ticks to turn to a given direction (current direction should be _v_angle)
+        ticksperwheel = 0
         return ticksperwheel