diff --git a/project/modules/Makefile b/project/modules/Makefile
new file mode 100755
index 0000000..3eefd1d
--- /dev/null
+++ b/project/modules/Makefile
@@ -0,0 +1,29 @@
+# Makefile
+CC=gcc
+CFLAGS = -W -Wall -pedantic -g -std=gnu99 -c
+LDFLAGS = -static
+RM = rm -f
+
+TARGET = motor
+OBJECTS = gpio.o
+HEADERS = $(OBJECTS:.o=.h)
+SOURCES = $(TARGET).c $(OBJECTS:.o=.c)
+
+%.o: %.c
+	$(CC) $(CFLAGS) $< -o $@
+
+.PHONY: all clean
+
+all: $(TARGET)
+
+clean:
+	$(RM) $(TARGET) $(TARGET).o $(OBJECTS) depend
+
+depend: $(SOURCES) $(HEADERS)
+	$(CC) $(CPPFLAGS) -MM $(SOURCES) > $@
+
+$(TARGET): $(TARGET).o $(OBJECTS)
+	$(CC) $(LDFLAGS) $^ -o $@
+	$(RM) depend $(TARGET).o $(OBJECTS)
+
+include depend
diff --git a/project/modules/_common/infrared_sensor.def.h b/project/modules/_common/infrared_sensor.def.h
new file mode 100644
index 0000000..dfe45f0
--- /dev/null
+++ b/project/modules/_common/infrared_sensor.def.h
@@ -0,0 +1,4 @@
+static dev_t devno;
+static struct cdev chardev;
+static struct class *chardev_class;
+static struct device *chardev_device[NUMBER_OF_MINOR_DEVICE];
diff --git a/project/modules/_common/infrared_sensor.h b/project/modules/_common/infrared_sensor.h
new file mode 100644
index 0000000..181b976
--- /dev/null
+++ b/project/modules/_common/infrared_sensor.h
@@ -0,0 +1,82 @@
+MODULE_AUTHOR("Manuel Vögele, Siegfried Kienzle, Simon Wörner");
+MODULE_DESCRIPTION(DEVICE_NAME "driver");
+MODULE_LICENSE("GPL");
+
+static int __init ModInit(void)
+{
+
+    unsigned int i = 0;
+
+    printk(KERN_DEBUG DEVICE_NAME ": init");
+
+    if (alloc_chrdev_region(&devno, 0, NUMBER_OF_MINOR_DEVICE, DEVICE_NAME) < 0)
+        return -EIO;
+
+    cdev_init(&chardev, &fops);
+    chardev.owner = THIS_MODULE;
+    chardev.ops = &fops;
+
+    if (cdev_add(&chardev, devno, NUMBER_OF_MINOR_DEVICE)) {
+        pr_err(DEVICE_NAME ": cdev_add failed.");
+        goto free_device_number;
+    }
+
+    chardev_class = class_create(THIS_MODULE, DEVICE_NAME);
+
+    if (IS_ERR(chardev_class)) {
+        pr_err(DEVICE_NAME ": no udev support\n");
+        goto free_cdev;
+    }
+
+    for (i = 0; i < NUMBER_OF_MINOR_DEVICE; ++i)
+    {
+#if NUMBER_OF_MINOR_DEVICE == 1
+        chardev_device[i] = device_create(chardev_class, NULL, devno + i, NULL, DEVICE_NAME);
+#else
+        chardev_device[i] = device_create(chardev_class, NULL, devno + i, NULL, DEVICE_NAME "%d", i);
+#endif
+
+        if (IS_ERR(chardev_device[i])) {
+            pr_err(DEVICE_NAME ": device create failed\n");
+            goto free_device;
+        }
+    }
+
+#ifdef CUSTOM_INIT
+    CUSTOM_INIT
+#endif
+
+    return 0;
+
+free_device:
+    for (; i > 0; --i) {
+        device_destroy(chardev_class, devno + i - 1);
+    }
+    class_destroy(chardev_class);
+free_cdev:
+    cdev_del(&chardev);
+free_device_number:
+    unregister_chrdev_region(devno, NUMBER_OF_MINOR_DEVICE);
+    return -EIO;
+}
+
+static void __exit ModExit(void)
+{
+    unsigned int i = 0;
+
+    printk(KERN_DEBUG DEVICE_NAME ": exit");
+
+#ifdef CUSTOM_EXIT
+    CUSTOM_EXIT
+#endif
+
+    for (i = NUMBER_OF_MINOR_DEVICE; i > 0; --i) {
+        device_destroy(chardev_class, devno + i - 1);
+    }
+    class_destroy(chardev_class);
+    cdev_del(&chardev);
+    unregister_chrdev_region(devno, NUMBER_OF_MINOR_DEVICE);
+}
+
+module_init( ModInit );
+module_exit( ModExit );
\ No newline at end of file
diff --git a/project/modules/infrared_sensor/infrared_sensor.c b/project/modules/infrared_sensor/infrared_sensor.c
new file mode 100644
index 0000000..296d118
--- /dev/null
+++ b/project/modules/infrared_sensor/infrared_sensor.c
@@ -0,0 +1,62 @@
+#include <linux/init.h>
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/fs.h>
+#include <linux/cdev.h>
+#include <linux/gpio.h>
+#include <linux/kobject.h>
+#include <linux/device.h>
+#include <linux/uaccess.h>
+
+#define DEVICE_NAME "infrared_sensor";
+#define NUMBER_OF_MINOR_DEVICE (1);
+
+#include "infrared_sensor.def.h"
+
+static unsigned int infrared_sensor_in_1 = 2;
+static unsigned int infrared_sensor_in_2 = 3;
+static unsigned int infrared_sensor_in_3 = 4;
+static unsigned int infrared_sensor_in_4 = 17; 
+
+
+static int infrared_sensor_open(struct inode devfile, struct file *instance) 
+{
+	int err;
+
+	err = gpio_request(infrared_sensor_in_1, "rpi-gpio-1");
+	if (err) {
+		printk("gpio_request failed %d\n", err);
+		return -1;
+	}
+	err = gpio_direction_output(infrared_sensor_in_1);
+	if (err) {
+		printk("gpio_direction_input failed %d\n", err);
+		gpio_free(infrared_sensor_in_1);
+		return -1;
+	}
+	printk("gpio 2 successfull configured\n");
+
+
+
+}
+
+static ssize_t infrared_sensor_read( struct file *instance, char __user *buffer,
+							size_t max_bytes_to_read, loff_t *offset)
+{
+
+}
+
+static int infrared_sensor_close( struct inode devfile, struct file *instance)
+{
+	
+}
+
+
+static struct file_operations fops = {
+	.owner = THIS_MODULE,
+	.open = infrared_sensor_open,
+	.release = infrared_sensor_close,
+	.read = infrared_sensor_read,
+};
+
+#include "infrared_sensor.h";
diff --git a/project/modules/infrared_sensor/infrared_sensor.def.h b/project/modules/infrared_sensor/infrared_sensor.def.h
new file mode 100644
index 0000000..dfe45f0
--- /dev/null
+++ b/project/modules/infrared_sensor/infrared_sensor.def.h
@@ -0,0 +1,4 @@
+static dev_t devno;
+static struct cdev chardev;
+static struct class *chardev_class;
+static struct device *chardev_device[NUMBER_OF_MINOR_DEVICE];
diff --git a/project/modules/infrared_sensor/infrared_sensor.h b/project/modules/infrared_sensor/infrared_sensor.h
new file mode 100644
index 0000000..181b976
--- /dev/null
+++ b/project/modules/infrared_sensor/infrared_sensor.h
@@ -0,0 +1,82 @@
+MODULE_AUTHOR("Manuel Vögele, Siegfried Kienzle, Simon Wörner");
+MODULE_DESCRIPTION(DEVICE_NAME "driver");
+MODULE_LICENSE("GPL");
+
+static int __init ModInit(void)
+{
+
+    unsigned int i = 0;
+
+    printk(KERN_DEBUG DEVICE_NAME ": init");
+
+    if (alloc_chrdev_region(&devno, 0, NUMBER_OF_MINOR_DEVICE, DEVICE_NAME) < 0)
+        return -EIO;
+
+    cdev_init(&chardev, &fops);
+    chardev.owner = THIS_MODULE;
+    chardev.ops = &fops;
+
+    if (cdev_add(&chardev, devno, NUMBER_OF_MINOR_DEVICE)) {
+        pr_err(DEVICE_NAME ": cdev_add failed.");
+        goto free_device_number;
+    }
+
+    chardev_class = class_create(THIS_MODULE, DEVICE_NAME);
+
+    if (IS_ERR(chardev_class)) {
+        pr_err(DEVICE_NAME ": no udev support\n");
+        goto free_cdev;
+    }
+
+    for (i = 0; i < NUMBER_OF_MINOR_DEVICE; ++i)
+    {
+#if NUMBER_OF_MINOR_DEVICE == 1
+        chardev_device[i] = device_create(chardev_class, NULL, devno + i, NULL, DEVICE_NAME);
+#else
+        chardev_device[i] = device_create(chardev_class, NULL, devno + i, NULL, DEVICE_NAME "%d", i);
+#endif
+
+        if (IS_ERR(chardev_device[i])) {
+            pr_err(DEVICE_NAME ": device create failed\n");
+            goto free_device;
+        }
+    }
+
+#ifdef CUSTOM_INIT
+    CUSTOM_INIT
+#endif
+
+    return 0;
+
+free_device:
+    for (; i > 0; --i) {
+        device_destroy(chardev_class, devno + i - 1);
+    }
+    class_destroy(chardev_class);
+free_cdev:
+    cdev_del(&chardev);
+free_device_number:
+    unregister_chrdev_region(devno, NUMBER_OF_MINOR_DEVICE);
+    return -EIO;
+}
+
+static void __exit ModExit(void)
+{
+    unsigned int i = 0;
+
+    printk(KERN_DEBUG DEVICE_NAME ": exit");
+
+#ifdef CUSTOM_EXIT
+    CUSTOM_EXIT
+#endif
+
+    for (i = NUMBER_OF_MINOR_DEVICE; i > 0; --i) {
+        device_destroy(chardev_class, devno + i - 1);
+    }
+    class_destroy(chardev_class);
+    cdev_del(&chardev);
+    unregister_chrdev_region(devno, NUMBER_OF_MINOR_DEVICE);
+}
+
+module_init( ModInit );
+module_exit( ModExit );
\ No newline at end of file
diff --git a/project/modules/infrared_sensor/infrared_sensor_in_1.c b/project/modules/infrared_sensor/infrared_sensor_in_1.c
new file mode 100644
index 0000000..491726a
--- /dev/null
+++ b/project/modules/infrared_sensor/infrared_sensor_in_1.c
@@ -0,0 +1,60 @@
+#include <linux/init.h>
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/fs.h>
+#include <linux/cdev.h>
+#include <linux/gpio.h>
+#include <linux/kobject.h>
+#include <linux/device.h>
+#include <linux/uaccess.h>
+
+#define DEVICE_NAME "infrared_sensor";
+#define NUMBER_OF_MINOR_DEVICE (1);
+
+#include "../_common/infrared_sensor.def.h"
+
+static unsigned int infrared_sensor_in_1 = 2;
+
+static int infrared_sensor_open(struct inode devfile, struct file *instance) 
+{
+	int err;
+
+	err = gpio_request(infrared_sensor_in_1, "rpi-gpio-2");
+	if (err) {
+		printk("gpio_request for in_1 failed %d\n", err);
+		return -1;
+	}
+	err = gpio_direction_input(infrared_sensor_in_3);
+	if (err) {
+		printk("gpio_direction_input for in_1 failed %d\n", err);
+		gpio_free(infrared_sensor_in_1);
+		return -1;
+	}
+	printk("gpio 2 successfull configured\n");
+	return 0;
+
+
+}
+
+static ssize_t infrared_sensor_read( struct file *instance, char __user *buffer,
+							size_t max_bytes_to_read, loff_t *offset)
+{
+
+}
+
+static int infrared_sensor_close( struct inode devfile, struct file *instance)
+{
+	printk( "driver_close called\n" );
+	gpio_free( infrared_sensor_in_1 );
+	return 0;
+}
+
+
+static struct file_operations fops = {
+	.owner = THIS_MODULE,
+	.open = infrared_sensor_open,
+	.release = infrared_sensor_close,
+	.read = infrared_sensor_read,
+};
+
+#include "../_common/infrared_sensor.h";
diff --git a/project/modules/infrared_sensor/infrared_sensor_in_2.c b/project/modules/infrared_sensor/infrared_sensor_in_2.c
new file mode 100644
index 0000000..05aab43
--- /dev/null
+++ b/project/modules/infrared_sensor/infrared_sensor_in_2.c
@@ -0,0 +1,61 @@
+#include <linux/init.h>
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/fs.h>
+#include <linux/cdev.h>
+#include <linux/gpio.h>
+#include <linux/kobject.h>
+#include <linux/device.h>
+#include <linux/uaccess.h>
+
+#define DEVICE_NAME "infrared_sensor";
+#define NUMBER_OF_MINOR_DEVICE (1);
+
+#include "../_common/infrared_sensor.def.h"
+
+static unsigned int infrared_sensor_in_2 = 3;
+
+
+static int infrared_sensor_open(struct inode devfile, struct file *instance) 
+{
+	int err;
+
+	err = gpio_request(infrared_sensor_in_2, "rpi-gpio-2");
+	if (err) {
+		printk("gpio_request for in_2 failed %d\n", err);
+		return -1;
+	}
+	err = gpio_direction_input(infrared_sensor_in_2);
+	if (err) {
+		printk("gpio_direction_input for in_2 failed %d\n", err);
+		gpio_free(infrared_sensor_in_2);
+		return -1;
+	}
+	printk("gpio 3 successfull configured\n");
+	return 0;
+
+
+}
+
+static ssize_t infrared_sensor_read( struct file *instance, char __user *buffer,
+							size_t max_bytes_to_read, loff_t *offset)
+{
+
+}
+
+static int infrared_sensor_close( struct inode devfile, struct file *instance)
+{
+	printk( "driver_close called\n" );
+	gpio_free( infrared_sensor_in_2 );
+	return 0;
+}
+
+
+static struct file_operations fops = {
+	.owner = THIS_MODULE,
+	.open = infrared_sensor_open,
+	.release = infrared_sensor_close,
+	.read = infrared_sensor_read,
+};
+
+#include "../_common/infrared_sensor.h";
diff --git a/project/modules/infrared_sensor/infrared_sensor_in_3.c b/project/modules/infrared_sensor/infrared_sensor_in_3.c
new file mode 100644
index 0000000..a9e3430
--- /dev/null
+++ b/project/modules/infrared_sensor/infrared_sensor_in_3.c
@@ -0,0 +1,60 @@
+#include <linux/init.h>
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/fs.h>
+#include <linux/cdev.h>
+#include <linux/gpio.h>
+#include <linux/kobject.h>
+#include <linux/device.h>
+#include <linux/uaccess.h>
+
+#define DEVICE_NAME "infrared_sensor";
+#define NUMBER_OF_MINOR_DEVICE (1);
+
+#include "../_common/infrared_sensor.def.h"
+
+static unsigned int infrared_sensor_in_3 = 4;
+
+static int infrared_sensor_open(struct inode devfile, struct file *instance) 
+{
+	int err;
+
+	err = gpio_request(infrared_sensor_in_3, "rpi-gpio-2");
+	if (err) {
+		printk("gpio_request for in_3 failed %d\n", err);
+		return -1;
+	}
+	err = gpio_direction_input(infrared_sensor_in_3);
+	if (err) {
+		printk("gpio_direction_input for in_3 failed %d\n", err);
+		gpio_free(infrared_sensor_in_3);
+		return -1;
+	}
+	printk("gpio 4 successfull configured\n");
+	return 0;
+
+
+}
+
+static ssize_t infrared_sensor_read( struct file *instance, char __user *buffer,
+							size_t max_bytes_to_read, loff_t *offset)
+{
+
+}
+
+static int infrared_sensor_close( struct inode devfile, struct file *instance)
+{
+	printk( "driver_close called\n" );
+	gpio_free( infrared_sensor_in_3 );
+	return 0;
+}
+
+
+static struct file_operations fops = {
+	.owner = THIS_MODULE,
+	.open = infrared_sensor_open,
+	.release = infrared_sensor_close,
+	.read = infrared_sensor_read,
+};
+
+#include "../_common/infrared_sensor.h";
diff --git a/project/modules/infrared_sensor/infrared_sensor_in_4.c b/project/modules/infrared_sensor/infrared_sensor_in_4.c
new file mode 100644
index 0000000..fc6c225
--- /dev/null
+++ b/project/modules/infrared_sensor/infrared_sensor_in_4.c
@@ -0,0 +1,60 @@
+#include <linux/init.h>
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/fs.h>
+#include <linux/cdev.h>
+#include <linux/gpio.h>
+#include <linux/kobject.h>
+#include <linux/device.h>
+#include <linux/uaccess.h>
+
+#define DEVICE_NAME "infrared_sensor";
+#define NUMBER_OF_MINOR_DEVICE (1);
+
+#include "../_common/infrared_sensor.def.h"
+
+static unsigned int infrared_sensor_in_4 = 17;
+
+static int infrared_sensor_open(struct inode devfile, struct file *instance) 
+{
+	int err;
+
+	err = gpio_request(infrared_sensor_in_4, "rpi-gpio-17");
+	if (err) {
+		printk("gpio_request for in_4 failed %d\n", err);
+		return -1;
+	}
+	err = gpio_direction_input(infrared_sensor_in_3);
+	if (err) {
+		printk("gpio_direction_input for in_4 failed %d\n", err);
+		gpio_free(infrared_sensor_in_4);
+		return -1;
+	}
+	printk("gpio 17 successfull configured\n");
+	return 0;
+
+
+}
+
+static ssize_t infrared_sensor_read( struct file *instance, char __user *buffer,
+							size_t max_bytes_to_read, loff_t *offset)
+{
+
+}
+
+static int infrared_sensor_close( struct inode devfile, struct file *instance)
+{
+	printk( "driver_close called\n" );
+	gpio_free( infrared_sensor_in_4 );
+	return 0;
+}
+
+
+static struct file_operations fops = {
+	.owner = THIS_MODULE,
+	.open = infrared_sensor_open,
+	.release = infrared_sensor_close,
+	.read = infrared_sensor_read,
+};
+
+#include "../_common/infrared_sensor.h";