diff --git a/.idea/misc.xml b/.idea/misc.xml
index 13fecf3..22fb1e8 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,4 +1,4 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.9 (pythonProject)" project-jdk-type="Python SDK" />
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.9 (SunFollower)" project-jdk-type="Python SDK" />
 </project>
\ No newline at end of file
diff --git a/.idea/pythonProject.iml b/.idea/pythonProject.iml
index 97538d9..415dc9c 100644
--- a/.idea/pythonProject.iml
+++ b/.idea/pythonProject.iml
@@ -12,7 +12,7 @@
       <excludeFolder url="file://$MODULE_DIR$/.idea" />
       <excludeFolder url="file://$MODULE_DIR$/venv" />
     </content>
-    <orderEntry type="inheritedJdk" />
+    <orderEntry type="jdk" jdkName="Python 3.9 (SunFollower)" jdkType="Python SDK" />
     <orderEntry type="sourceFolder" forTests="false" />
     <orderEntry type="library" name="MicroPython" level="project" />
   </component>
diff --git a/README.md b/README.md
index 02c013d..f619257 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1,15 @@
 # SunFollower
 
+## How to Upload to Pi
+1. Go to the [Thonny](https://thonny.org/) website
+2. Hover over "Windows" option in the Download Options box
+3. Click the download for "Installer with 64-bit Python 3.10"
+4. Run the installer when the download finishes
+5. Select "Install for me only"
+6. Click "Next" through all the options
+7. Click "Install", then "Finish"
+8. Run Thonny (Click "Lets go" on first run)
+9. Plug in the Raspberry Pi Pico if you haven't already
+10. Click in the bottom right, a menu should pop up. Select "MicroPython (Raspberry Pi Pico)"
+11. Copy and paste the whole code snippet from [main.py](./main.py) into the Thonny IDE
+12. Press the Green play button to upload the code to the Pi
\ No newline at end of file
diff --git a/main.py b/main.py
index 9d37b8e..74753ad 100644
--- a/main.py
+++ b/main.py
@@ -9,10 +9,12 @@ cur_deg = 90
 reset_button = Pin(14, Pin.IN)
 calibrate_button = Pin(15, Pin.IN)
 cal_threshold = 0
-led = Pin('WL_GPIO0', Pin.OUT)
+led = Pin(0, Pin.OUT)
 led.high()
 run_avg = [0, 0, 0, 0, 0]
 
+sensitivity = 10
+
 
 def servo(degrees):
     if degrees > 180:
@@ -36,10 +38,10 @@ def move_to_light():
     is_facing_light = False
     while not is_facing_light:
         offset = light_sensor_1.read_u16() - light_sensor_2.read_u16()
-        if offset > 50 and cur_deg > 0:
+        if offset > (sensitivity - 5) and cur_deg > 0:
             cur_deg = cur_deg - 1
             servo(cur_deg - 5)
-        elif offset < -50 and cur_deg < 180:
+        elif offset < -(sensitivity - 5) and cur_deg < 180:
             cur_deg = cur_deg + 1
             servo(cur_deg)
         else:
@@ -72,7 +74,7 @@ while True:
     sign = True
     for i in run_avg:
         cur_num = i
-        if abs(cur_num) > 75:
+        if abs(cur_num) > sensitivity:
             if first_iter:
                 if cur_num >= 0:
                     sign = True
diff --git a/main.py.temp b/main.py.temp
new file mode 100644
index 0000000..aeee24d
--- /dev/null
+++ b/main.py.temp
@@ -0,0 +1,101 @@
+import time
+from machine import Pin, ADC, PWM
+
+light_sensor_1 = ADC(26)
+light_sensor_2 = ADC(27)
+servo_pwm = PWM(Pin(28, Pin.OUT))
+servo_pwm.freq(50)
+cur_deg = 90
+reset_button = Pin(14, Pin.IN)
+calibrate_button = Pin(15, Pin.IN)
+led = Pin(25, Pin.OUT)
+led.high()
+run_avg = [0, 0, 0, 0, 0]
+
+light_1_offset = 0
+light_2_offset = 0
+
+
+def servo(degrees):
+    if degrees > 180:
+        degrees = 180
+    if degrees < 0:
+        degrees = 0
+    max_duty = 2500000
+    min_duty = 500000
+    new_duty = min_duty + (max_duty - min_duty) * (degrees / 180)
+    servo_pwm.duty_ns(int(new_duty))
+
+
+def shift_array(arr, num_to_add):
+    arr.pop(0)
+    arr.append(num_to_add)
+    return arr
+
+
+def move_to_light():
+    print("Moving to light...")
+    global cur_deg
+    is_facing_light = False
+    while not is_facing_light:
+        offset = light_sensor_1.read_u16() - light_sensor_2.read_u16()
+        if offset > 75 and cur_deg > 0:
+            cur_deg = cur_deg - 1
+            servo(cur_deg)
+        elif offset < -75 and cur_deg < 180:
+            cur_deg = cur_deg + 1
+            servo(cur_deg)
+        else:
+            is_facing_light = True
+        time.sleep(.01)
+    print("Moved to light!")
+
+
+servo(90)
+while True:
+    if reset_button.value() == 1:
+        led.low()
+        cur_deg = 90
+        servo(90)
+        cal_threshold = 0
+        run_avg = [0, 0, 0, 0, 0]
+        while reset_button.value() == 1:
+            time.sleep(.1)
+        led.high()
+        print("Reset")
+        continue
+    if calibrate_button.value() == 1:
+        sens_1 = light_sensor_1.read_u16()
+        sens_2 = light_sensor_2.read_u16()
+        if sens_1 > sens_2:
+            light_1_offset = sens_1 - sens_2
+        elif sens_1 < sens_2:
+            light_2_offset = sens_2 - sens_1
+        while calibrate_button.value() == 1:
+            time.sleep(.1)
+    diff = light_sensor_1.read_u16() - light_sensor_2.read_u16() - (light_1_offset - light_2_offset)
+    run_avg = shift_array(run_avg, diff)
+    num_over = 0
+    first_iter = True
+    sign = True
+    for cur_num in run_avg:
+        if abs(cur_num) > 90:
+            if first_iter:
+                print("First iter")
+                if cur_num >= 0:
+                    sign = True
+                else:
+                    sign = False
+                first_iter = False
+            if (cur_num >= 0 and not sign) or (cur_num < 0 and sign):
+                print("Reset")
+                num_over = 0
+                first_iter = True
+                break
+            elif (cur_num >= 0 and sign) or (cur_num < 0 and not sign):
+                print("+1")
+                num_over += 1
+    if num_over == 5:
+        print("Try move")
+        move_to_light()
+        run_avg = [0, 0, 0, 0, 0]