diff --git a/code/arduino/Movement-sensor-code/Connectivity.cpp b/code/arduino/Movement-sensor-code/Connectivity.cpp
new file mode 100644
index 0000000..ea3515b
--- /dev/null
+++ b/code/arduino/Movement-sensor-code/Connectivity.cpp
@@ -0,0 +1,23 @@
+#include "Connectivity.h"
+
+void Connectivity::connectWiFi(char* ssid, char* pass){
+  WiFi.mode(WIFI_STA);
+  WiFi.begin(ssid, pass);
+  while (WiFi.status() != WL_CONNECTED) {
+    Serial.println("connecting to wifi");
+    delay(1000);
+  }
+  Serial.println(WiFi.localIP());
+}
+
+void Connectivity::websocketSetup(){
+	//ws server address, port and URL
+	webSocket.begin("192.168.137.1", 8001, "");
+	// try every 500 again if connection has failed
+	webSocket.setReconnectInterval(500);
+}
+
+void Connectivity::sendData(float roll, float pitch, float yaw){
+  String message = "{\"Sensor\": 1, \"roll\":\"" + String(roll) + "\",\"pitch\":\"" + String(pitch) + "\",\"yaw\":\"" + String(yaw) + "\"}";
+  webSocket.sendTXT(message);
+}
\ No newline at end of file
diff --git a/code/arduino/Movement-sensor-code/Connectivity.h b/code/arduino/Movement-sensor-code/Connectivity.h
new file mode 100644
index 0000000..624eccd
--- /dev/null
+++ b/code/arduino/Movement-sensor-code/Connectivity.h
@@ -0,0 +1,30 @@
+#ifndef Connectivity_h
+#define Connectivity_h
+
+#include "Arduino.h"
+#include <WebSocketsClient.h>
+#include <ArduinoWiFiServer.h>
+#include <ESP8266WiFi.h>
+#include <ESP8266WiFiGeneric.h>
+#include <ESP8266WiFiGratuitous.h>
+#include <ESP8266WiFiMulti.h>
+#include <ESP8266WiFiSTA.h>
+#include <ESP8266WiFiScan.h>
+#include <ESP8266WiFiType.h>
+#include <WiFiClient.h>
+#include <WiFiServer.h>
+#include <WiFiServerSecure.h>
+#include <WiFiUdp.h>
+
+class Connectivity {
+public:
+  void connectWiFi(char* ssid, char* pass);
+  void websocketSetup();
+  void sendData(float roll, float pitch, float yaw);
+
+private:
+  ESP8266WiFiMulti wifi;
+  WebSocketsClient webSocket;
+};
+
+#endif
\ No newline at end of file
diff --git a/code/arduino/Movement-sensor-code/Movement-sensor-code.ino b/code/arduino/Movement-sensor-code/Movement-sensor-code.ino
index f889f39..28eb441 100644
--- a/code/arduino/Movement-sensor-code/Movement-sensor-code.ino
+++ b/code/arduino/Movement-sensor-code/Movement-sensor-code.ino
@@ -1,22 +1,26 @@
 #include "headerFile.h"
 
-SensorManager sensorManager;
-ESP8266WiFiMulti wifi;
-WebSocketsClient webSocket;
-#define USE_SERIAL Serial
+SensorManager::Rotation offset;
 
 void setup() {
   Serial.begin(9600);
   Serial.println("startup");
   delay(5000);
-  connectWiFi();
+  
+  connectivity.connectWiFi(ssid, pass);
   sensorManager.sensorSetup();
-  websocketSetup();
+  connectivity.websocketSetup();
 }
 
 void loop() {
   SensorManager::Rotation rotation = sensorManager.readLoop();
 
+  // Subtract offset
+  rotation.i -= offset.i;
+  rotation.j -= offset.j;
+  rotation.k -= offset.k;
+  rotation.w -= offset.w;
+
   // Convert quaternion to Euler angles in radians
   float roll = atan2(2.0f * (rotation.w * rotation.i + rotation.j * rotation.k), 1.0f - 2.0f * (rotation.i * rotation.i + rotation.j * rotation.j));
   float pitch = asin(2.0f * (rotation.w * rotation.j - rotation.k * rotation.i));
@@ -32,34 +36,19 @@ void loop() {
   Serial.print(pitch);
   Serial.print(" ");
   Serial.print(yaw);
-  sendData(roll, pitch, yaw);
+  connectivity.sendData(roll, pitch, yaw);
 
   Serial.println();
   webSocket.loop();
-}
 
-
-void connectWiFi(){
-
-  WiFi.mode(WIFI_STA);
-  wifi.addAP(ssid, pass);
-  WiFi.begin();
-  while (WiFi.status() != WL_CONNECTED) {
-    Serial.println("connecting to wifi");
-    delay(1000);
+  if (Serial.available()) {
+    String command = Serial.readStringUntil('\n');
+    command.trim(); // remove any trailing whitespace
+    if (command == "setZeroPoint") {
+      setZeroPoint();
+    }
   }
-  Serial.println(WiFi.localIP());
-
 }
-
-void websocketSetup(){
-	//ws server address, port and URL
-	webSocket.begin("192.168.178.118", 8001, "");
-	// try every 500 again if connection has failed
-	webSocket.setReconnectInterval(500);
+void setZeroPoint() {
+  offset = sensorManager.readLoop();
 }
-
-void sendData(float roll, float pitch, float yaw){
-  String message = "{\"Sensor\": 1, \"roll\":\"" + String(roll) + "\",\"pitch\":\"" + String(pitch) + "\",\"yaw\":\"" + String(yaw) + "\"}";
-  webSocket.sendTXT(message);
-}
\ No newline at end of file
diff --git a/code/arduino/Movement-sensor-code/SensorManager.cpp b/code/arduino/Movement-sensor-code/SensorManager.cpp
index 4ca3d62..063f0da 100644
--- a/code/arduino/Movement-sensor-code/SensorManager.cpp
+++ b/code/arduino/Movement-sensor-code/SensorManager.cpp
@@ -1,6 +1,7 @@
 #include "SensorManager.h"
 #include <Wire.h>
 
+
 SensorManager::SensorManager() {}
 
 void SensorManager::sensorSetup() {
diff --git a/code/arduino/Movement-sensor-code/headerFIle.h b/code/arduino/Movement-sensor-code/headerFIle.h
index cd3f6ae..b7b8220 100644
--- a/code/arduino/Movement-sensor-code/headerFIle.h
+++ b/code/arduino/Movement-sensor-code/headerFIle.h
@@ -1,20 +1,13 @@
-#include <WebSocketsClient.h>
+//classes
+#include "SensorManager.h"
+#include "Connectivity.h"
 
-#include <ArduinoWiFiServer.h>
-#include <ESP8266WiFi.h>
-#include <ESP8266WiFiGeneric.h>
-#include <ESP8266WiFiGratuitous.h>
-#include <ESP8266WiFiMulti.h>
-#include <ESP8266WiFiSTA.h>
-#include <ESP8266WiFiScan.h>
-#include <ESP8266WiFiType.h>
-#include <WiFiClient.h>
-#include <WiFiServer.h>
-#include <WiFiServerSecure.h>
-#include <WiFiUdp.h>
+//define
+SensorManager sensorManager;
+Connectivity connectivity;
+WebSocketsClient webSocket;
+#define USE_SERIAL Serial
 
-#define ssid "ObsidianAmstelveen"
-#define pass "drijversstraatmaastricht"
 
-//custom classes
-#include "SensorManager.h"
\ No newline at end of file
+#define ssid "1235678i"
+#define pass "12345678"