diff --git a/.DS_Store b/.DS_Store
index 6d9ef6c4..42314bc2 100644
Binary files a/.DS_Store and b/.DS_Store differ
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 11643538..b2782474 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -2,9 +2,7 @@
 <project version="4">
   <component name="ChangeListManager">
     <list default="true" id="f9d6eb70-00d3-4b11-88c3-998eeea85bdb" name="Default" comment="">
-      <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" afterPath="$PROJECT_DIR$/.idea/workspace.xml" />
-      <change beforePath="$PROJECT_DIR$/logger/arduino_encoder/arduino_encoder.ino" afterPath="$PROJECT_DIR$/logger/arduino_encoder/arduino_encoder.ino" />
-      <change beforePath="$PROJECT_DIR$/logger/dataset_collector.py" afterPath="$PROJECT_DIR$/logger/dataset_collector.py" />
+      <change beforePath="$PROJECT_DIR$/TIMELINE.md" afterPath="" />
     </list>
     <option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
     <option name="TRACKING_ENABLED" value="true" />
@@ -69,7 +67,7 @@
         <entry file="file://$PROJECT_DIR$/logger/dataset_collector.py">
           <provider selected="true" editor-type-id="text-editor">
             <state relative-caret-position="337">
-              <caret line="42" column="27" lean-forward="true" selection-start-line="42" selection-start-column="27" selection-end-line="42" selection-end-column="27" />
+              <caret line="42" column="27" lean-forward="false" selection-start-line="42" selection-start-column="27" selection-end-line="42" selection-end-column="27" />
               <folding>
                 <element signature="e#247#260#0" expanded="true" />
               </folding>
@@ -80,7 +78,7 @@
       <file leaf-file-name="preprocess_dataset.py" pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/semantic_segmentation/preprocess_dataset.py">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="567">
+            <state relative-caret-position="735">
               <caret line="56" column="21" lean-forward="false" selection-start-line="56" selection-start-column="20" selection-end-line="56" selection-end-column="21" />
               <folding>
                 <element signature="e#0#10#0" expanded="true" />
@@ -253,8 +251,6 @@
       <foldersAlwaysOnTop value="true" />
     </navigator>
     <panes>
-      <pane id="Scratches" />
-      <pane id="Scope" />
       <pane id="ProjectPane">
         <subPane>
           <expand>
@@ -262,26 +258,12 @@
               <item name="ALVNS" type="b2602c69:ProjectViewProjectNode" />
               <item name="ALVNS" type="462c0819:PsiDirectoryNode" />
             </path>
-            <path>
-              <item name="ALVNS" type="b2602c69:ProjectViewProjectNode" />
-              <item name="ALVNS" type="462c0819:PsiDirectoryNode" />
-              <item name="logger" type="462c0819:PsiDirectoryNode" />
-            </path>
-            <path>
-              <item name="ALVNS" type="b2602c69:ProjectViewProjectNode" />
-              <item name="ALVNS" type="462c0819:PsiDirectoryNode" />
-              <item name="logger" type="462c0819:PsiDirectoryNode" />
-              <item name="arduino_encoder" type="462c0819:PsiDirectoryNode" />
-            </path>
-            <path>
-              <item name="ALVNS" type="b2602c69:ProjectViewProjectNode" />
-              <item name="ALVNS" type="462c0819:PsiDirectoryNode" />
-              <item name="semantic_segmentation" type="462c0819:PsiDirectoryNode" />
-            </path>
           </expand>
           <select />
         </subPane>
       </pane>
+      <pane id="Scratches" />
+      <pane id="Scope" />
     </panes>
   </component>
   <component name="PropertiesComponent">
@@ -477,7 +459,7 @@
       <window_info id="Python Console" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.32736573" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
       <window_info id="Run" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.28644502" sideWeight="0.49713877" order="2" side_tool="false" content_ui="tabs" x="21" y="333" width="1398" height="257" />
       <window_info id="Terminal" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.36061382" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
-      <window_info id="Project" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="true" show_stripe_button="true" weight="0.1874106" sideWeight="0.5" order="0" side_tool="false" content_ui="combo" />
+      <window_info id="Project" active="true" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="true" show_stripe_button="true" weight="0.18955651" sideWeight="0.5" order="0" side_tool="false" content_ui="combo" />
       <window_info id="Docker" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="false" weight="0.33" sideWeight="0.5" order="8" side_tool="false" content_ui="tabs" />
       <window_info id="Database" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.32988167" sideWeight="0.5" order="3" side_tool="false" content_ui="tabs" />
       <window_info id="SciView" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.36918604" sideWeight="0.5" order="3" side_tool="false" content_ui="tabs" />
@@ -831,7 +813,7 @@
     </entry>
     <entry file="file://$PROJECT_DIR$/semantic_segmentation/preprocess_dataset.py">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="567">
+        <state relative-caret-position="735">
           <caret line="56" column="21" lean-forward="false" selection-start-line="56" selection-start-column="20" selection-end-line="56" selection-end-column="21" />
           <folding>
             <element signature="e#0#10#0" expanded="true" />
@@ -842,7 +824,7 @@
     <entry file="file://$PROJECT_DIR$/logger/dataset_collector.py">
       <provider selected="true" editor-type-id="text-editor">
         <state relative-caret-position="337">
-          <caret line="42" column="27" lean-forward="true" selection-start-line="42" selection-start-column="27" selection-end-line="42" selection-end-column="27" />
+          <caret line="42" column="27" lean-forward="false" selection-start-line="42" selection-start-column="27" selection-end-line="42" selection-end-column="27" />
           <folding>
             <element signature="e#247#260#0" expanded="true" />
           </folding>
diff --git a/TIMELINE.md b/CHECKLIST.md
similarity index 65%
rename from TIMELINE.md
rename to CHECKLIST.md
index 68741779..b2600a9b 100755
--- a/TIMELINE.md
+++ b/CHECKLIST.md
@@ -1,17 +1,16 @@
-# Phase 2.1
+# Phase 2
 
 ## Todos:
 
 ### Steering
 1. Collect our own data set on golf cart
-	- Purchase rotary encoder
-	- Install rotary encoder
-	- Implement data collection software
+	- ~~Purchase rotary encoder~~
+	- ~~Install rotary encoder~~
+	- ~~Implement data collection software~~
 	- Collect data
 2. Multi-camera system improvement
 	- Purchase at least 2 more webcams
-	- Consider to purchase the ZED stereo camera system
-	- Implement multi-cam system
+	- ~~read input from all cameras~~
 
 ### Autonomous Cruise Control
 
diff --git a/CODE_OF_CONDUCT.md b/CODE_OF_CONDUCT.md
new file mode 100644
index 00000000..736f3a34
--- /dev/null
+++ b/CODE_OF_CONDUCT.md
@@ -0,0 +1,46 @@
+# Contributor Covenant Code of Conduct
+
+## Our Pledge
+
+In the interest of fostering an open and welcoming environment, we as contributors and maintainers pledge to making participation in our project and our community a harassment-free experience for everyone, regardless of age, body size, disability, ethnicity, gender identity and expression, level of experience, nationality, personal appearance, race, religion, or sexual identity and orientation.
+
+## Our Standards
+
+Examples of behavior that contributes to creating a positive environment include:
+
+* Using welcoming and inclusive language
+* Being respectful of differing viewpoints and experiences
+* Gracefully accepting constructive criticism
+* Focusing on what is best for the community
+* Showing empathy towards other community members
+
+Examples of unacceptable behavior by participants include:
+
+* The use of sexualized language or imagery and unwelcome sexual attention or advances
+* Trolling, insulting/derogatory comments, and personal or political attacks
+* Public or private harassment
+* Publishing others' private information, such as a physical or electronic address, without explicit permission
+* Other conduct which could reasonably be considered inappropriate in a professional setting
+
+## Our Responsibilities
+
+Project maintainers are responsible for clarifying the standards of acceptable behavior and are expected to take appropriate and fair corrective action in response to any instances of unacceptable behavior.
+
+Project maintainers have the right and responsibility to remove, edit, or reject comments, commits, code, wiki edits, issues, and other contributions that are not aligned to this Code of Conduct, or to ban temporarily or permanently any contributor for other behaviors that they deem inappropriate, threatening, offensive, or harmful.
+
+## Scope
+
+This Code of Conduct applies both within project spaces and in public spaces when an individual is representing the project or its community. Examples of representing a project or community include using an official project e-mail address, posting via an official social media account, or acting as an appointed representative at an online or offline event. Representation of a project may be further defined and clarified by project maintainers.
+
+## Enforcement
+
+Instances of abusive, harassing, or otherwise unacceptable behavior may be reported by contacting the project team at contact@neilnie.com. The project team will review and investigate all complaints, and will respond in a way that it deems appropriate to the circumstances. The project team is obligated to maintain confidentiality with regard to the reporter of an incident. Further details of specific enforcement policies may be posted separately.
+
+Project maintainers who do not follow or enforce the Code of Conduct in good faith may face temporary or permanent repercussions as determined by other members of the project's leadership.
+
+## Attribution
+
+This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4, available at [http://contributor-covenant.org/version/1/4][version]
+
+[homepage]: http://contributor-covenant.org
+[version]: http://contributor-covenant.org/version/1/4/
diff --git a/semantic_segmentation/.DS_Store b/semantic_segmentation/.DS_Store
index 3dd0db07..0d60016a 100755
Binary files a/semantic_segmentation/.DS_Store and b/semantic_segmentation/.DS_Store differ