diff --git a/lfr.cpp b/lfr.cpp
index 654fdf1..75a7f78 100644
--- a/lfr.cpp
+++ b/lfr.cpp
@@ -1,29 +1,45 @@
-#include <iostream>
-#include <opencv2/opencv.hpp>
-#include <input.h>
-#include <processing.h>
-#include <control_module.h>
-#include <interpreter.h>
-#include <intersection_handler.h>
-
-using namespace cv;
-
+#include "lfr.h"
 const int threshold_binary = 110;
 
+LFR::LFR() : iAmLooping(false), input(), processing(), controlModule(), interpreter(), intersectionHandler()
+{
+
+}
+
+LFR::~LFR()
+{
+
+}
+
+void LFR::loop()
+{
+    //Give it 10 loops while async processing is not supported. 
+    //while(iAmLooping)
+    for(int i = 0; i < 3; i++)
+    {
+        Mat image = input.readWebcam();
+        processing.calculate_binaray(image, threshold_binary);
+        imshow("Display window", image);
+        waitKey(0);
+    }
+    iAmLooping = false;
+}
+
+void LFR::startLoop()
+{
+    this->loop();
+}
+
+void LFR::endLoop()
+{
+    std::cout<<"The loop has been started. You may not dare to tell it to stop.";
+}
+
+
 int main(void)
 {
-    //Set up
-    Input input;
-    Processing processing;
-    ControlModule controleModule;
-    Interpreter interpreter;
-    IntersectionHandler intersectionHandler;
-
     //Mat image1 = input.readFile("C:\\Line-Following-Robot\\Test_data\\*.jpeg");
-    Mat image1 = input.readWebcam();
-
-    processing.calculate_binaray(image1, threshold_binary);
-    imshow("Display window", image1);
-    waitKey(0);
 
+    LFR lfr;
+    lfr.startLoop();
 }
\ No newline at end of file
diff --git a/lfr.h b/lfr.h
new file mode 100644
index 0000000..69483fa
--- /dev/null
+++ b/lfr.h
@@ -0,0 +1,30 @@
+#include <iostream>
+#include <opencv2/opencv.hpp>
+#include <input.h>
+#include <processing.h>
+#include <control_module.h>
+#include <interpreter.h>
+#include <intersection_handler.h>
+
+using namespace cv;
+
+class LFR
+{
+    Input input;
+    Processing processing;
+    ControlModule controlModule;
+    Interpreter interpreter;
+    IntersectionHandler intersectionHandler;
+    bool iAmLooping;
+    void loop();
+
+public:
+
+    LFR();
+    ~LFR();
+
+    void startLoop();
+    void endLoop();
+
+
+};
\ No newline at end of file