diff --git a/entities/controller.sv b/entities/controller.sv
new file mode 100644
index 0000000..eab61d9
--- /dev/null
+++ b/entities/controller.sv
@@ -0,0 +1,21 @@
+module controller 
+   (input logic clk,
+    input logic reset,
+
+    input logic sensor_l,
+    input logic sensor_m,
+    input logic sensor_r,
+
+    input logic [?:0] count_in,
+    output logic count_reset,
+
+    output logic motor_l_reset,
+    output logic motor_l_direction,
+
+    output logic motor_r_reset,
+    output logic motor_r_direction);
+
+
+
+endmodule
+   
diff --git a/entities/inputbuffer.sv b/entities/inputbuffer.sv
new file mode 100644
index 0000000..67fcf66
--- /dev/null
+++ b/entities/inputbuffer.sv
@@ -0,0 +1,12 @@
+module inputbuffer
+   (input logic clk,
+    input logic sensor_l_in,
+    input logic sensor_m_in, 
+    input logic sensor_r_in,
+    output logic sensor_l_out,
+    output logic sensor_m_out, 
+    output logic sensor_r_out);
+
+
+
+endmodule
diff --git a/entities/motorcontrol.sv b/entities/motorcontrol.sv
new file mode 100644
index 0000000..57e9c08
--- /dev/null
+++ b/entities/motorcontrol.sv
@@ -0,0 +1,10 @@
+module motorcontrol 
+   (input logic clk,
+    input logic reset,
+    input logic direction, 
+    input logic [?:0] count_in,
+    output logic pwm);
+
+
+
+endmodule
diff --git a/entities/robot.sv b/entities/robot.sv
new file mode 100644
index 0000000..a160c29
--- /dev/null
+++ b/entities/robot.sv
@@ -0,0 +1,14 @@
+module robot
+   (input logic clk,
+    input logic reset,
+
+    input logic sensor_l_in,
+    input logic sensor_m_in,
+    input logic sensor_r_in,
+
+    output logic motor_l_pwm,
+    output logic motor_r_pwm);
+
+
+
+endmodule
diff --git a/entities/timebase.sv b/entities/timebase.sv
new file mode 100644
index 0000000..d04bc37
--- /dev/null
+++ b/entities/timebase.sv
@@ -0,0 +1,8 @@
+module timebase 
+   (input logic clk,
+    input logic reset,
+    output logic [?:0] count);
+
+
+
+endmodule