diff --git a/src/__main__.py b/src/__main__.py
index fdb8552..ac43145 100644
--- a/src/__main__.py
+++ b/src/__main__.py
@@ -1,30 +1,48 @@
 import time
 
 import carla
-
+#A2-Pooriya Sanaie(401624033)-Fateme Aghabarari(401622503)-Seyed Javad Hosseini
 from src.simulator_handler import SimulatorHandler
 from utils.vehicle_command import VehicleCommand
+from path_following_handler import PathFollowingHandler
+import warnings
 
-if __name__ == "__main__":
-    simulator_handler = SimulatorHandler(town_name="Town04")
-    simulator_handler.spawn_vehicle(spawn_index=13)
-    simulator_handler.set_weather(weather=carla.WeatherParameters.ClearNoon)
+warnings.filterwarnings("ignore")
 
-    # potential weather choices are [ClearNoon, ClearSunset, CloudyNoon, CloudySunset,
-    # WetNoon, WetSunset, MidRainyNoon, MidRainSunset, HardRainNoon, HardRainSunset,
-    # SoftRainNoon, SoftRainSunset]
+if __name__ == "__main__":
+    simulator_handler = SimulatorHandler(town_name="Town10HD_Opt")
 
+    simulator_handler.set_weather(weather=carla.WeatherParameters.ClearNoon)
+    path_following_handler = PathFollowingHandler(client=simulator_handler.client)
+    ego_spawn_point = path_following_handler.ego_spawn_point
+    ego_vehicle = simulator_handler.spawn_ego_vehicles(road_id=ego_spawn_point["road_id"],
+                                                       filtered_points_index=ego_spawn_point["filtered_points_index"])
     # add sensors
     rgb_cam = simulator_handler.rgb_cam()
     gnss_sensor = simulator_handler.gnss()
     imu_sensor = simulator_handler.imu()
+    lidar_sen_1 = simulator_handler.lidar()
+    radar_sensor = simulator_handler.radar()
+    #  colision_sensor = simulator_handler.colision()
 
     # listen to sensor data
     rgb_cam.listen(lambda image: simulator_handler.rgb_cam_callback(image))
     imu_sensor.listen(lambda imu: simulator_handler.imu_callback(imu))
     gnss_sensor.listen(lambda gnss: simulator_handler.gnss_callback(gnss))
-    VehicleCommand(throttle=1.0).send_control(simulator_handler.vehicle)
-    time.sleep(20.0)
-
-
-
+    lidar_sen_1.listen(lambda point_cloud: point_cloud.save_to_disk('data/lidar_pooriya/%.6d.ply' % point_cloud.frame))
+    radar_sensor.listen(lambda radar_data: simulator_handler.rad_callback(radar_data))
+    # colision_sensor.listen(lambda colision_sensor: simulator_handler.colision_callback(colision_sensor))
+
+    if path_following_handler.debug_mode:
+        path_following_handler.start()
+    else:
+        # ego_vehicle = path_following_handler.spawn_ego_vehicles(road_id=ego_spawn_point["road_id"],
+        # filtered_points_index=ego_spawn_point["filtered_points_index"])
+        ego_pid_controller = path_following_handler.pid_controller(ego_vehicle,
+                                                                   path_following_handler.pid_values_lateral,
+                                                                   path_following_handler.pid_values_longitudinal)
+        path_following_handler.vehicle_and_controller_inputs(ego_vehicle, ego_pid_controller)
+        path_following_handler.start()
+
+    # time.sleep(20.0)
+    # simulator_handler.clearing()