diff --git a/ch4/controller.sv b/ch4/controller.sv
new file mode 100644
index 0000000..2f5f2fc
--- /dev/null
+++ b/ch4/controller.sv
@@ -0,0 +1,89 @@
+module controller #(parameter N=21)
+   (input logic clk,
+    input logic reset,
+
+    input logic sensor_l,
+    input logic sensor_m,
+    input logic sensor_r,
+
+    input logic [N-1:0] 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);
+
+typedef enum logic [2:0] {Central, Forward, Gentle_l, Sharp_l, Gentle_r, Sharp_r} control_state;
+control_state state, next_state;
+
+always_ff @(posedge clk) begin
+	if(reset)
+		state <= Central;
+	else 
+		state <= next_state;
+end
+
+assign sensors_lmr = {sensor_l, sensor_m, sensor_r};
+
+always_comb begin
+	case(state)
+		Central: begin
+			motor_l_reset = 1;
+			motor_l_direction = 0;
+			motor_r_reset = 1;
+			motor_r_direction = 0;
+
+			case(sensors_lmr)
+				3'b000, 3'b010, 3'b101, 3'b111: next_state = Forward;
+				3'b001: next_state = Gentle_l;
+				3'b011: next_state = Sharp_l;
+				3'b100: next_state = Gentle_r;
+				3'b110: next_state = Sharp_r;
+				default: next_state = Central;
+			endcase
+		end
+		Forward: begin
+			motor_l_reset = 0;
+			motor_l_direction = 0;
+			motor_r_reset = 0;
+			motor_r_direction = 1;
+		end
+		Gentle_l: begin
+			motor_l_reset = 1;
+			motor_l_direction = 0;
+			motor_r_reset = 0;
+			motor_r_direction = 1;
+		end
+		Sharp_l: begin
+			motor_l_reset = 0;
+			motor_l_direction = 1;
+			motor_r_reset = 0;
+			motor_r_direction = 1;
+		end
+		Gentle_r: begin
+			motor_l_reset = 0;
+			motor_l_direction = 0;
+			motor_r_reset = 1;
+			motor_r_direction = 0;
+		end
+		Sharp_r: begin
+			motor_l_reset = 0;
+			motor_l_direction = 0;
+			motor_r_reset = 0;
+			motor_r_direction = 0;
+		end
+		default: begin
+			motor_l_reset = 1;
+			motor_l_direction = 0;
+			motor_r_reset = 1;
+			motor_r_direction = 0;
+		end
+	endcase
+
+end
+
+
+endmodule
+   
diff --git a/entities/inputbuffer.sv b/ch4/inputbuffer.sv
similarity index 53%
rename from entities/inputbuffer.sv
rename to ch4/inputbuffer.sv
index 67fcf66..d0a647c 100644
--- a/entities/inputbuffer.sv
+++ b/ch4/inputbuffer.sv
@@ -8,5 +8,17 @@ module inputbuffer
     output logic sensor_r_out);
 
 
+logic [2:0]Q_a; 
+
+
+always_ff @(posedge clk)
+	begin
+	Q_a[2] <= sensor_l_in;
+	Q_a[1] <= sensor_m_in;
+	Q_a[0] <= sensor_r_in;
+	sensor_l_out <= Q_a[2];
+	sensor_m_out <= Q_a[1];
+	sensor_r_out <= Q_a[0];
+	end
 
 endmodule
diff --git a/ch4/motorcontrol.sv b/ch4/motorcontrol.sv
index 3539434..9b83075 100644
--- a/ch4/motorcontrol.sv
+++ b/ch4/motorcontrol.sv
@@ -21,8 +21,7 @@ module motorcontrol #(parameter N=21)
 			reset:
 				begin
 					pwm = 0;
-					if (rst == 0)
-						next_state = high;
+					next_state = high;
 				end 
 			high:
 				begin
diff --git a/ch4/robot.sv b/ch4/robot.sv
new file mode 100644
index 0000000..4a6f672
--- /dev/null
+++ b/ch4/robot.sv
@@ -0,0 +1,13 @@
+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/ch4/transcript b/ch4/transcript
index 2a6fb9d..e6b8593 100644
--- a/ch4/transcript
+++ b/ch4/transcript
@@ -13,23 +13,53 @@
 # //  is prohibited from disclosure under the Trade Secrets Act,
 # //  18 U.S.C. Section 1905.
 # //
-# OpenFile {C:/Users/Stan Oremus/OneDrive/Documenten/TU Delft Lasse Oremus/DSB/github/ch4/timebase.sv}
-# file mkdir Line_follower_DSB
+# OpenFile {C:/Users/Stan Oremus/OneDrive/Documenten/TU Delft Lasse Oremus/Q3_2024_2025/DSB/github/ch4/inputbuffer.sv}
 # Loading project Line_follower_DSB
+# Compile of inputbuffer.sv failed with 1 errors.
+# Compile of inputbuffer.sv failed with 1 errors.
+# Compile of inputbuffer.sv failed with 1 errors.
+# Compile of inputbuffer.sv was successful.
+# Error opening C:/Users/Stan Oremus/OneDrive/Documenten/TU Delft Lasse Oremus/DSB/github/ch4/timebase.sv
+# Path name 'C:/Users/Stan Oremus/OneDrive/Documenten/TU Delft Lasse Oremus/DSB/github/ch4/timebase.sv' doesn't exist.
+# Error opening C:/Users/Stan Oremus/OneDrive/Documenten/TU Delft Lasse Oremus/DSB/github/ch4/timebase_tb.sv
+# Path name 'C:/Users/Stan Oremus/OneDrive/Documenten/TU Delft Lasse Oremus/DSB/github/ch4/timebase_tb.sv' doesn't exist.
+# Compile of motorcontrol.sv was successful.
+# Compile of motorcontrol_tb.sv was successful.
 # Compile of timebase_tb.sv was successful.
 # Compile of timebase.sv was successful.
-# Load canceled
 vsim -novopt work.timebase_tb
 # vsim -novopt work.timebase_tb 
-# Start time: 15:22:45 on Feb 10,2025
+# Start time: 09:15:44 on Feb 20,2025
 # ** Warning: (vsim-8891) All optimizations are turned off because the -novopt switch is in effect. This will cause your simulation to run very slowly. If you are using this switch to preserve visibility for Debug or PLI features please see the User's Manual section on Preserving Object Visibility with vopt.
-# Refreshing C:/Users/Stan Oremus/OneDrive/Documenten/TU Delft Lasse Oremus/DSB/github/ch4/work.timebase_tb
+# Refreshing C:/Users/Stan Oremus/OneDrive/Documenten/TU Delft Lasse Oremus/Q3_2024_2025/DSB/github/ch4/work.timebase_tb
 # Loading sv_std.std
 # Loading work.timebase_tb
-# Refreshing C:/Users/Stan Oremus/OneDrive/Documenten/TU Delft Lasse Oremus/DSB/github/ch4/work.timebase
+# Refreshing C:/Users/Stan Oremus/OneDrive/Documenten/TU Delft Lasse Oremus/Q3_2024_2025/DSB/github/ch4/work.timebase
 # Loading work.timebase
-run 200ns
-# ** Note: $finish    : C:/Users/Stan Oremus/OneDrive/Documenten/TU Delft Lasse Oremus/DSB/github/ch4/timebase_tb.sv(22)
-#    Time: 200 ns  Iteration: 0  Instance: /timebase_tb
-# End time: 15:23:19 on Feb 10,2025, Elapsed time: 0:00:34
+run 400ns
+# ** Note: $finish    : C:/Users/Stan Oremus/OneDrive/Documenten/TU Delft Lasse Oremus/Q3_2024_2025/DSB/github/ch4/timebase_tb.sv(22)
+#    Time: 210 ns  Iteration: 0  Instance: /timebase_tb
+# 1
+# Break in Module timebase_tb at C:/Users/Stan Oremus/OneDrive/Documenten/TU Delft Lasse Oremus/Q3_2024_2025/DSB/github/ch4/timebase_tb.sv line 22
+# Compile of motorcontrol.sv was successful.
+vsim -novopt work.motorcontrol_tb
+# End time: 09:24:08 on Feb 20,2025, Elapsed time: 0:08:24
 # Errors: 0, Warnings: 1
+# vsim -novopt work.motorcontrol_tb 
+# Start time: 09:24:08 on Feb 20,2025
+# ** Warning: (vsim-8891) All optimizations are turned off because the -novopt switch is in effect. This will cause your simulation to run very slowly. If you are using this switch to preserve visibility for Debug or PLI features please see the User's Manual section on Preserving Object Visibility with vopt.
+# Refreshing C:/Users/Stan Oremus/OneDrive/Documenten/TU Delft Lasse Oremus/Q3_2024_2025/DSB/github/ch4/work.motorcontrol_tb
+# Loading sv_std.std
+# Loading work.motorcontrol_tb
+# Loading work.timebase
+# Refreshing C:/Users/Stan Oremus/OneDrive/Documenten/TU Delft Lasse Oremus/Q3_2024_2025/DSB/github/ch4/work.motorcontrol
+# Loading work.motorcontrol
+run 40ms
+quit -sim
+# End time: 09:25:22 on Feb 20,2025, Elapsed time: 0:01:14
+# Errors: 0, Warnings: 1
+# Compile of controller.sv failed with 2 errors.
+# Compile of controller.sv failed with 2 errors.
+# Compile of controller.sv failed with 2 errors.
+# Compile of controller.sv failed with 2 errors.
+# Compile of controller.sv was successful.