diff --git a/app/raspberry_pi/src/car/system/lidar/LidarScanner.hpp b/app/raspberry_pi/src/car/system/lidar/LidarScanner.hpp
index 03eaf59b..b4caad12 100644
--- a/app/raspberry_pi/src/car/system/lidar/LidarScanner.hpp
+++ b/app/raspberry_pi/src/car/system/lidar/LidarScanner.hpp
@@ -8,6 +8,7 @@
 #include <memory>
 
 #include <RPLidar.h>
+#include <spdlog/spdlog.h>
 
 using namespace rplidar;
 
@@ -16,16 +17,20 @@ namespace car::system::lidar
 	class LidarScanner : public LidarDevice
 	{
 	public:
-		LidarScanner(const std::string &lidar_port) : lidar(RPLidar::create(lidar_port).value())
+		LidarScanner(const std::string &lidar_port, const bool &enabled) : lidar(RPLidar::create(lidar_port).value()), enabled(enabled)
 		{
+			if (!this->enabled)
+			{
+				spdlog::warn("The Lidar Scanner is disabled");
+			};
 		};
 
-		~LidarScanner()
-		{
-		};
+		~LidarScanner(){};
 
 		void initialize() const override
 		{
+			if (!this->enabled)
+				return;
 			this->lidar->reset();
 			this->lidar->stop();
 			this->lidar->stop_motor();
@@ -33,6 +38,8 @@ namespace car::system::lidar
 
 		void start() const override
 		{
+			if (!this->enabled)
+				return;
 			this->lidar->start_motor();
 
 			// auto info_result = lidar->get_info();
@@ -53,12 +60,19 @@ namespace car::system::lidar
 		};
 		std::vector<Measure> scan() const override
 		{
+			if (!this->enabled)
+			{
+				std::vector<Measure> measures;
+				return measures;
+			}
 			std::function<std::vector<Measure>()> scanGenerator = this->lidar->iter_scans();
 			return scanGenerator();
 		};
 
-		void terminate() const override 
+		void terminate() const override
 		{
+			if (!this->enabled)
+				return;
 			this->lidar->stop();
 			this->lidar->stop_motor();
 			this->lidar->disconnect();
@@ -66,6 +80,7 @@ namespace car::system::lidar
 
 	private:
 		std::unique_ptr<RPLidar> lidar;
+		const bool enabled;
 	};
 }
 
diff --git a/app/raspberry_pi/src/car/system/movement/MovementSystem.hpp b/app/raspberry_pi/src/car/system/movement/MovementSystem.hpp
index ca0ef206..da834a97 100644
--- a/app/raspberry_pi/src/car/system/movement/MovementSystem.hpp
+++ b/app/raspberry_pi/src/car/system/movement/MovementSystem.hpp
@@ -38,31 +38,6 @@ namespace car::system::movement {
 		void terminate() {
 		}
 
-        // From: https://github.com/chaoticmachinery/pca9685
-        int map(int x, int in_min, int in_max, int out_min, int out_max) {
-            return ((x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min);
-        }
-
-        // From: https://github.com/chaoticmachinery/pca9685
-        int setAngleToAnalog(int angle) {
-            float pulse_wide;
-            int analog_value;
-
-            pulse_wide = map(angle, 0, 180, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
-            analog_value = int(float(pulse_wide) / 1000000 * FREQUENCY * 4096);
-            return (analog_value);
-        }
-
-        // From: https://github.com/chaoticmachinery/pca9685
-		void turn(const TurnCommand& command) {
-            const float angle = std::clamp(command.angle, 1.0f, 179.0f);
-            for (int channel = 0; channel < 2; channel++) {
-                int val = 0;
-                val = setAngleToAnalog(angle);
-                this->pwm->setPWM(channel, 0, val);
-			}
-		}
-
 		~MovementSystem() {
 		};
 
diff --git a/app/raspberry_pi/src/car/system/movement/wheels/FrontWheel.hpp b/app/raspberry_pi/src/car/system/movement/wheels/FrontWheel.hpp
new file mode 100644
index 00000000..06027b7b
--- /dev/null
+++ b/app/raspberry_pi/src/car/system/movement/wheels/FrontWheel.hpp
@@ -0,0 +1,6 @@
+namespace car::system::movement::wheels
+{
+    class FrontWheel {
+
+    };
+} // namespace car::system::movement::wheels
diff --git a/app/raspberry_pi/src/car/system/movement/wheels/RearWheel.hpp b/app/raspberry_pi/src/car/system/movement/wheels/RearWheel.hpp
new file mode 100644
index 00000000..bd459a69
--- /dev/null
+++ b/app/raspberry_pi/src/car/system/movement/wheels/RearWheel.hpp
@@ -0,0 +1,6 @@
+namespace car::system::movement::wheels
+{
+    class RearWheel {
+
+    };
+} // namespace car::system::movement::wheels