diff --git a/rc-app/src/main/java/nl/vaneijndhoven/dukes/app/LaneDetectionApp.java b/rc-app/src/main/java/nl/vaneijndhoven/dukes/app/LaneDetectionApp.java
index b5a98aa9..45fa874f 100644
--- a/rc-app/src/main/java/nl/vaneijndhoven/dukes/app/LaneDetectionApp.java
+++ b/rc-app/src/main/java/nl/vaneijndhoven/dukes/app/LaneDetectionApp.java
@@ -7,6 +7,8 @@
 import javafx.scene.Scene;
 import javafx.scene.layout.BorderPane;
 import javafx.stage.Stage;
+import nl.vaneijndhoven.dukes.common.Config;
+import nl.vaneijndhoven.dukes.common.Environment;
 
 /**
  * JavaFx Lane Detection App
diff --git a/rc-car/src/main/java/nl/vaneijndhoven/dukes/car/SteeringHandler.java b/rc-car/src/main/java/nl/vaneijndhoven/dukes/car/SteeringHandler.java
index 4dc6c86b..4f9ed93b 100644
--- a/rc-car/src/main/java/nl/vaneijndhoven/dukes/car/SteeringHandler.java
+++ b/rc-car/src/main/java/nl/vaneijndhoven/dukes/car/SteeringHandler.java
@@ -4,6 +4,7 @@
 import io.vertx.core.logging.Logger;
 import io.vertx.core.logging.LoggerFactory;
 import nl.vaneijndhoven.dukes.car.SteeringMap;
+import nl.vaneijndhoven.dukes.common.Config;
 import nl.vaneijndhoven.dukes.drivecontrol.Car;
 
 /**
@@ -83,17 +84,17 @@ void handleServo(JsonObject messageBody) {
 
     SteeringMap steeringMap = car.getSteering().getSteeringMap();
 
-    if ("left".equals(position)) {
+    if (Config.POSITION_LEFT.equals(position)) {
       currentWheelPosition = currentWheelPosition - steeringMap.stepSize();
       if (currentWheelPosition < steeringMap.maxLeft()) {
         currentWheelPosition = steeringMap.maxLeft();
       }
-    } else if ("right".equals(position)) {
+    } else if (Config.POSITION_RIGHT.equals(position)) {
       currentWheelPosition = currentWheelPosition + steeringMap.stepSize();
       if (currentWheelPosition > steeringMap.maxRight()) {
         currentWheelPosition = steeringMap.maxRight();
       }
-    } else if ("center".equals(position)) {
+    } else if (Config.POSITION_CENTER.equals(position)) {
       currentWheelPosition = steeringMap.center();
     }
     turnWrapper(currentWheelPosition);
diff --git a/rc-car/src/test/java/nl/vaneijndhoven/dukes/car/TestHandlers.java b/rc-car/src/test/java/nl/vaneijndhoven/dukes/car/TestHandlers.java
index 34347469..f9d346ec 100644
--- a/rc-car/src/test/java/nl/vaneijndhoven/dukes/car/TestHandlers.java
+++ b/rc-car/src/test/java/nl/vaneijndhoven/dukes/car/TestHandlers.java
@@ -159,13 +159,13 @@ public void testSteeringHandler() throws Exception {
     SteeringHandler sh=new SteeringHandler(car);
     Steering steering = car.getSteering();
     JsonObject msg=new JsonObject();
-    msg.put("position","center");
+    msg.put("position",Config.POSITION_CENTER);
     sh.handleServo(msg);
     assertEquals(130,steering.getServo());
-    msg.put("position","left");
+    msg.put("position",Config.POSITION_RIGHT);
     sh.handleServo(msg);
     assertEquals(135,steering.getServo());
-    msg.put("position","left");
+    msg.put("position",Config.POSITION_LEFT);
     sh.handleServo(msg);
     assertEquals(140,steering.getServo());
     if (debug)
diff --git a/rc-common/src/main/java/nl/vaneijndhoven/dukes/common/Config.java b/rc-common/src/main/java/nl/vaneijndhoven/dukes/common/Config.java
index 54b90c97..4510abfc 100644
--- a/rc-common/src/main/java/nl/vaneijndhoven/dukes/common/Config.java
+++ b/rc-common/src/main/java/nl/vaneijndhoven/dukes/common/Config.java
@@ -48,6 +48,10 @@ public class Config {
   public static final String ENGINE_MAX_SPEED_REVERSE = "engine.max.speed.reverse";
   public static final String ENGINE_MIN_SPEED_FORWARD = "engine.min.speed.forward";
   public static final String ENGINE_MAX_SPEED_FORWARD = "engine.max.speed.forward";
+  // Commands
+  public static final String POSITION_LEFT = "left";
+  public static final String POSITION_RIGHT = "right";
+  public static final String POSITION_CENTER = "center";
 
   /**
    * configure the logging
diff --git a/rc-detect/src/main/java/nl/vaneijndhoven/opencv/video/LaneDetectionController.java b/rc-detect/src/main/java/nl/vaneijndhoven/opencv/video/LaneDetectionController.java
index 87e07a4b..e384cdcc 100644
--- a/rc-detect/src/main/java/nl/vaneijndhoven/opencv/video/LaneDetectionController.java
+++ b/rc-detect/src/main/java/nl/vaneijndhoven/opencv/video/LaneDetectionController.java
@@ -1,15 +1,14 @@
 package nl.vaneijndhoven.opencv.video;
 
+import org.opencv.core.Mat;
+
 import io.vertx.core.Vertx;
 import io.vertx.core.logging.Logger;
 import io.vertx.core.logging.LoggerFactory;
+import nl.vaneijndhoven.dukes.common.Config;
 import nl.vaneijndhoven.opencv.edgedectection.CannyEdgeDetector;
-import nl.vaneijndhoven.opencv.lanedetection.ImageLaneDetection;
 import nl.vaneijndhoven.opencv.linedetection.ProbabilisticHoughLinesLineDetector;
 import nl.vaneijndhoven.opencv.tools.ImageCollector;
-import org.opencv.core.Mat;
-
-import java.util.Map;
 
 /**
  * lane detection controller
@@ -17,213 +16,214 @@
  */
 public class LaneDetectionController {
 
-    protected static final Logger LOG = LoggerFactory
+  protected static final Logger LOG = LoggerFactory
       .getLogger(LaneDetectionController.class);
 
-    public static double DEFAULT_LANE_BOUNDARY_ANGLE = 45;
-    public static double DEFAULT_LANE_BOUNDARY_TOLERANCE = 30;
-
-    public static final double DEFAULT_CANNY_THRESHOLD_1 = 131d;
-    public static final double DEFAULT_CANNY_THRESHOLD_2 = 397d;
-    public static final int DEFAULT_LINE_DETECT_RHO = 1;
-    public static final double DEFAULT_LINE_DETECT_THETA = Math.PI / 180;
-    public static final double DEFAULT_LINE_DETECT_THRESHOLD = 42d;
-    public static final double DEFAULT_LINE_DETECT_MIN_LINE_LENGTH = 0d;
-    public static final double DEFAULT_LINE_DETECT_MAX_LINE_GAP = 98d;
-
-
-
-    private static final long MAX_DURATION_NO_LINES_DETECTED = 1000;
-
-    private long COMMAND_LOOP_INTERVAL = 100L;
-    private boolean stoppingZoneDetected = false;
-    private Vertx vertx;
-    private long tsLastLinesDetected = System.currentTimeMillis();
-
-    private double previousAngle = 0;
-
-    private double minDistanceToStoppingZone = Double.MAX_VALUE;
-    private long tsLastCommand = System.currentTimeMillis();
-    private long tsLastConnectionOKmessageSent = System.currentTimeMillis();
-    private double lastRudderPercentageSent = 0d;
-
-    private boolean emergencyStopActivated = false;
-
-    public LaneDetectionController(Vertx vertx) {
-        this.vertx = vertx;
-        initDefaults();
-    }
-
-    private void initDefaults() {
-        minDistanceToStoppingZone = Double.MAX_VALUE;
-        tsLastCommand = System.currentTimeMillis();
-        lastRudderPercentageSent = 0d;
-    }
+  public static double DEFAULT_LANE_BOUNDARY_ANGLE = 45;
+  public static double DEFAULT_LANE_BOUNDARY_TOLERANCE = 30;
+
+  public static final double DEFAULT_CANNY_THRESHOLD_1 = 131d;
+  public static final double DEFAULT_CANNY_THRESHOLD_2 = 397d;
+  public static final int DEFAULT_LINE_DETECT_RHO = 1;
+  public static final double DEFAULT_LINE_DETECT_THETA = Math.PI / 180;
+  public static final double DEFAULT_LINE_DETECT_THRESHOLD = 42d;
+  public static final double DEFAULT_LINE_DETECT_MIN_LINE_LENGTH = 0d;
+  public static final double DEFAULT_LINE_DETECT_MAX_LINE_GAP = 98d;
+
+  private static final long MAX_DURATION_NO_LINES_DETECTED = 1000;
+
+  private long COMMAND_LOOP_INTERVAL = 100L;
+  private boolean stoppingZoneDetected = false;
+  private Vertx vertx;
+  private long tsLastLinesDetected = System.currentTimeMillis();
+
+  private double previousAngle = 0;
+
+  private double minDistanceToStoppingZone = Double.MAX_VALUE;
+  private long tsLastCommand = System.currentTimeMillis();
+  private long tsLastConnectionOKmessageSent = System.currentTimeMillis();
+  private double lastRudderPercentageSent = 0d;
+
+  private boolean emergencyStopActivated = false;
+
+  public LaneDetectionController(Vertx vertx) {
+    this.vertx = vertx;
+    initDefaults();
+  }
+
+  private void initDefaults() {
+    minDistanceToStoppingZone = Double.MAX_VALUE;
+    tsLastCommand = System.currentTimeMillis();
+    lastRudderPercentageSent = 0d;
+  }
+
+  public void performLaneDetection(Mat originalImage,
+      CannyEdgeDetector.Config cannyConfig,
+      ProbabilisticHoughLinesLineDetector.Config lineDetectorConfig,
+      ImageCollector collector) {
+    // ImageLaneDetection laneDetect = new ImageLaneDetection(cannyConfig,
+    // lineDetectorConfig, matrix);
+    // Map<String, Object> laneDetectResult =
+    // laneDetect.detectLane(originalImage, collector);
+    //
+    // double distanceToStoppingZoneStart = (double)
+    // laneDetectResult.get("distanceToStoppingZone");
+    // double distanceToStoppingZoneEnd = (double)
+    // laneDetectResult.get("distanceToStoppingZoneEnd");
+    // double angle = (double) laneDetectResult.get("angle");
+    //
+    // processLane(angle, distanceToStoppingZoneStart,
+    // distanceToStoppingZoneEnd);
+  }
+
+  private void processLane(double angle, double distanceToStoppingZoneStart,
+      double distanceToStoppingZoneEnd) {
+    long currentTime = System.currentTimeMillis();
+
+    logConnectionOK();
+    detectStoppingZone(distanceToStoppingZoneStart);
+    verifyAngleFound(angle, currentTime);
+
+    double rudderPercentage = 100 * (Math.abs(angle) / 60) * 0.45; // 0.5 voor
+                                                                   // rechtdoor
+                                                                   // rijden
+
+    // double damp = Math.abs(previousAngle) - angle);
+
+    // System.out.println("prev: " + previousAngle + ", angle: " + angle + ",
+    // rudderPercentage: " + rudderPercentage + ", damp: " + damp);
+    String direction="?";
+    if (currentTime - tsLastCommand > COMMAND_LOOP_INTERVAL) {
+   
+      if ((previousAngle != 0)
+          && (!((previousAngle < 0 && angle > 0)
+              || (previousAngle > 0 && angle < 0)))
+          && (Math.abs(angle) < Math.abs(previousAngle))) {
+        direction=Config.POSITION_CENTER;
+        rudderPercentage = 0;
+      } else {
+        if (rudderPercentage > 0) {
+        
+          if (angle > 0) {
+            direction = Config.POSITION_LEFT;
+            rudderPercentage = -rudderPercentage * 1;
+          } else {
+            direction = Config.POSITION_RIGHT;
+            rudderPercentage = rudderPercentage * 1.3;
+          }
+          
+        }
+      }
+      String msg = String.format("steering %s, percentage: %3.1f %% ",
+          direction, rudderPercentage);
+      LOG.debug(msg);
+      
+      eventBusSendAfterMS(0, "setwheel:" + rudderPercentage);
+      tsLastCommand = currentTime;
+      lastRudderPercentageSent = rudderPercentage;
+      previousAngle = angle;
 
-    public void performLaneDetection(Mat originalImage, CannyEdgeDetector.Config cannyConfig, ProbabilisticHoughLinesLineDetector.Config lineDetectorConfig, ImageCollector collector) {
-//        ImageLaneDetection laneDetect = new ImageLaneDetection(cannyConfig, lineDetectorConfig, matrix);
-//        Map<String, Object> laneDetectResult = laneDetect.detectLane(originalImage, collector);
-//
-//        double distanceToStoppingZoneStart = (double) laneDetectResult.get("distanceToStoppingZone");
-//        double distanceToStoppingZoneEnd = (double) laneDetectResult.get("distanceToStoppingZoneEnd");
-//        double angle = (double) laneDetectResult.get("angle");
-//
-//        processLane(angle, distanceToStoppingZoneStart, distanceToStoppingZoneEnd);
     }
-
-    private void processLane(double angle, double distanceToStoppingZoneStart, double distanceToStoppingZoneEnd) {
-        long currentTime = System.currentTimeMillis();
-
-        logConnectionOK();
-        detectStoppingZone(distanceToStoppingZoneStart);
-        verifyAngleFound(angle, currentTime);
-
-
-
-        double rudderPercentage = 100 * (Math.abs(angle) / 60) * 0.45; // 0.5 voor rechtdoor rijden
-
-
-
-
-//        double damp = Math.abs(previousAngle)   - angle);
-
-
-       // System.out.println("prev: " + previousAngle + ", angle: " + angle + ", rudderPercentage: " + rudderPercentage + ", damp: " + damp);
-
-
-
-
-        if (currentTime - tsLastCommand > COMMAND_LOOP_INTERVAL) {
-
-            if (
-                    (previousAngle != 0) &&
-                    (!((previousAngle < 0 && angle > 0) || (previousAngle > 0 && angle < 0)))
-                    && (Math.abs(angle) < Math.abs(previousAngle))) {
-                System.out.println("center");
-                rudderPercentage = 0;
-            } else {
-
-
-                if (rudderPercentage > 0) {
-                    String direction;
-                    if (angle > 0) {
-                        direction = "left";
-                        rudderPercentage = -rudderPercentage * 1;
-                    } else {
-                        direction = "right";
-                        rudderPercentage = rudderPercentage * 1.3;
-                    }
-                    String msg=String.format("steering %s, percentage: %3.1f %% ",direction,rudderPercentage);
-                    LOG.debug(msg);
-                    
-
-                }
-
-
-            }
-
-            eventBusSendAfterMS(0, "setwheel:" + rudderPercentage);
-            tsLastCommand = currentTime;
-            lastRudderPercentageSent = rudderPercentage;
-            previousAngle = angle;
-
+  }
+
+  private void verifyAngleFound(double angle, long currentTime) {
+    if (!(angle > 0) && !(angle < 0)) {
+      // no angle detected
+      if ((currentTime - tsLastLinesDetected > MAX_DURATION_NO_LINES_DETECTED)
+          && !emergencyStopActivated) {
+        System.out.println("no angle found for "
+            + MAX_DURATION_NO_LINES_DETECTED + "ms, emergency stop");
+        if (vertx != null) {
+          emergencyStopActivated = true;
+          vertx.eventBus().send("control", "speed:stop");
         }
+      }
+    } else {
+      // all good
+      tsLastLinesDetected = currentTime;
     }
-
-
-    private void verifyAngleFound(double angle, long currentTime) {
-        if (!(angle > 0) && !(angle < 0)) {
-            // no angle detected
-            if ((currentTime - tsLastLinesDetected > MAX_DURATION_NO_LINES_DETECTED) && !emergencyStopActivated) {
-                System.out.println("no angle found for " + MAX_DURATION_NO_LINES_DETECTED + "ms, emergency stop");
-                if (vertx != null) {
-                    emergencyStopActivated = true;
-                    vertx.eventBus().send("control", "speed:stop");
-                }
-            }
-        } else {
-            // all good
-            tsLastLinesDetected = currentTime;
+  }
+
+  private void detectStoppingZone(double distanceToStoppingZoneStart) {
+    // System.out.println("distanceToStoppingZoneStart: " +
+    // distanceToStoppingZoneStart);
+
+    if (distanceToStoppingZoneStart > 0) {
+
+      if (distanceToStoppingZoneStart < minDistanceToStoppingZone) {
+        minDistanceToStoppingZone = distanceToStoppingZoneStart;
+        System.out.println("new minimal distance to stopping zone: "
+            + minDistanceToStoppingZone);
+      }
+
+      if (minDistanceToStoppingZone < 100) {
+        if (distanceToStoppingZoneStart - minDistanceToStoppingZone > 30) {
+          if (!stoppingZoneDetected) {
+            System.out.println("--- stop ---");
+            eventBusSendAfterMS(1000, "speed:brake");
+            stoppingZoneDetected = true;
+          }
         }
+      }
+
+      // if (distanceToStoppingZoneStart - minDistanceToStoppingZone > 20) {
+      // System.out.println("--- stop ---");
+      // eventBusSendAfterMS(10,"speed:brake");
+      // }
+
+      // System.out.println("distanceToStoppingZoneStart: " +
+      // distanceToStoppingZoneStart);
+      //
+      // if (distanceToStoppingZoneStart > 5 && distanceToStoppingZoneStart <
+      // 15) {
+      // System.out.println("--- stop ---");
+      // eventBusSendAfterMS(10,"speed:brake");
+      // }
+
+      // if (distanceToStoppingZoneStart < minDistanceToStoppingZone) {
+      // minDistanceToStoppingZone = distanceToStoppingZoneStart;
+      // System.out.println("new minimal distance to stopping zone: " +
+      // minDistanceToStoppingZone);
+      // }
+      //
+      // if (Math.abs(distanceToStoppingZoneStart - minDistanceToStoppingZone) >
+      // 10) {
+      // System.out.println("distance increasing: min=" +
+      // minDistanceToStoppingZone + ", cur = " + distanceToStoppingZoneStart);
+      //
+      // int wait = 500;
+      // stoppingZoneDetected = true;
+      // System.out.println("stopping zone detected, stopping in " + wait + "
+      // ms");
+      // // eventBusSendAfterMS(wait,"speed:brake");
+      // }
     }
-
-    private void detectStoppingZone(double distanceToStoppingZoneStart) {
-        // System.out.println("distanceToStoppingZoneStart: " + distanceToStoppingZoneStart);
-
-        if (distanceToStoppingZoneStart > 0) {
-
-            if (distanceToStoppingZoneStart < minDistanceToStoppingZone) {
-                minDistanceToStoppingZone = distanceToStoppingZoneStart;
-                System.out.println("new minimal distance to stopping zone: " + minDistanceToStoppingZone);
-            }
-
-            if (minDistanceToStoppingZone < 100) {
-                if (distanceToStoppingZoneStart - minDistanceToStoppingZone > 30) {
-                    if (!stoppingZoneDetected) {
-                        System.out.println("--- stop ---");
-                        eventBusSendAfterMS(1000,"speed:brake");
-                        stoppingZoneDetected = true;
-                    }
-                }
-            }
-
-//            if (distanceToStoppingZoneStart - minDistanceToStoppingZone > 20) {
-//                System.out.println("--- stop ---");
-//                eventBusSendAfterMS(10,"speed:brake");
-//            }
-
-
-//            System.out.println("distanceToStoppingZoneStart: " + distanceToStoppingZoneStart);
-//
-//            if (distanceToStoppingZoneStart > 5 && distanceToStoppingZoneStart < 15) {
-//                System.out.println("--- stop ---");
-//                eventBusSendAfterMS(10,"speed:brake");
-//            }
-
-//            if (distanceToStoppingZoneStart < minDistanceToStoppingZone) {
-//                minDistanceToStoppingZone = distanceToStoppingZoneStart;
-//                System.out.println("new minimal distance to stopping zone: " + minDistanceToStoppingZone);
-//            }
-//
-//            if (Math.abs(distanceToStoppingZoneStart - minDistanceToStoppingZone) > 10) {
-//                System.out.println("distance increasing: min=" + minDistanceToStoppingZone + ", cur = " + distanceToStoppingZoneStart);
-//
-//                int wait = 500;
-//                stoppingZoneDetected = true;
-//                System.out.println("stopping zone detected, stopping in " + wait + " ms");
-//                // eventBusSendAfterMS(wait,"speed:brake");
-//            }
+  }
+
+  private void eventBusSendAfterMS(long ms, String command) {
+    new java.util.Timer().schedule(new java.util.TimerTask() {
+      @Override
+      public void run() {
+        // System.out.println("Sending command '" + command + "'.");
+        if (vertx != null) {
+          vertx.eventBus().send("control", command);
+        } else {
+          System.out.println(
+              "Couldn't send command '" + command + "', Vert.x not inited");
         }
-    }
-
-    private void eventBusSendAfterMS(long ms, String command) {
-        new java.util.Timer().schedule(
-                new java.util.TimerTask() {
-                    @Override
-                    public void run() {
-//                        System.out.println("Sending command '" + command + "'.");
-                        if (vertx != null) {
-                            vertx.eventBus().send("control", command);
-                        } else {
-                            System.out.println("Couldn't send command '" + command + "', Vert.x not inited");
-                        }
-                    }
-                },
-                ms
-        );
-    }
+      }
+    }, ms);
+  }
 
+  private void logConnectionOK() {
+    int logConnectionOKinterval = 1000;
 
-    private void logConnectionOK() {
-        int logConnectionOKinterval = 1000;
-
-        long currentTime = System.currentTimeMillis();
-        if (currentTime - tsLastConnectionOKmessageSent > logConnectionOKinterval) {
-            eventBusSendAfterMS(0, "log:LaneDetectionController connected");
-            tsLastConnectionOKmessageSent = currentTime;
-        }
-
+    long currentTime = System.currentTimeMillis();
+    if (currentTime - tsLastConnectionOKmessageSent > logConnectionOKinterval) {
+      eventBusSendAfterMS(0, "log:LaneDetectionController connected");
+      tsLastConnectionOKmessageSent = currentTime;
     }
 
+  }
 
 }