diff --git a/lfr_state_machine.cpp b/lfr_state_machine.cpp
index 8c6b7d5..e155aea 100644
--- a/lfr_state_machine.cpp
+++ b/lfr_state_machine.cpp
@@ -1 +1,40 @@
 #include "lfr_state_machine.h"
+
+LFR_StateMachine::LFR_StateMachine(LFR_IState& startState):    
+    autonomousMode(videoHeight, videoWidth, thresholdBinary, gaussKernelSize, [&](std::exception const &ex)
+    {
+        std::unique_lock<std::mutex> lock(mutex);
+        std::cerr<<"camera exception:"<<ex.what()<<std::endl;
+        return false;
+    }),
+    uartCommunicator(),
+    socket([&](std::exception const &ex)
+    {
+        std::unique_lock<std::mutex> lock(mutex);
+        std::cerr<<"socket exception:"<<ex.what()<<std::endl;
+        return false;
+    })
+{
+    // Connect String parser to socket
+    socket.addListener([&](LFR_Socket::LFR_Telegram telegram)
+    {
+        std::unique_lock<std::mutex> lock(mutex);
+        std::cout << telegram;
+    }, &mutex);
+    socket.startLoop();
+    
+    currentState = &startState;
+    currentState->enter(this);
+
+    //Start the permanent loop
+    char input;
+    std::cout << "press q to quit" << std::endl;
+    std::cin >> input;
+    std::cout << "binned" << std::endl;
+    while (input != 'q')
+    {
+        std::cin >> input;
+        std::cout << "binned" << std::endl;
+    }
+    std::cout << "Exiting central" << std::endl;
+}
\ No newline at end of file
diff --git a/lfr_state_machine.h b/lfr_state_machine.h
index 3f3fe36..717ceeb 100644
--- a/lfr_state_machine.h
+++ b/lfr_state_machine.h
@@ -1,15 +1,29 @@
 #pragma once
+#include <iostream>
+#include <lfr.h>
+#include <lfr_socket.h>
+#include <uart_communication.h>
 #include "lfr_state_interface.h"
 
 class LFR_StateMachine
 {
     LFR_IState* currentState;
     LFR_StateMachine() = delete;
+
+    const int thresholdBinary = 140;
+    const int videoHeight = 720;
+    const int videoWidth = 1280;
+    const int gaussKernelSize = 11;
+
+    std::mutex mutex;
+
+    LFR autonomousMode;
+    LFR_UART uartCommunicator;
+    LFR_Socket socket;
+    
+
 public:
-    LFR_StateMachine(LFR_IState& startState){
-        currentState = &startState;
-        currentState->enter(this);
-    }
+    LFR_StateMachine(LFR_IState& startState);
     inline LFR_IState* getCurrentState() const {return currentState;}
     void setState(LFR_IState& newState)
     {
diff --git a/main.cpp b/main.cpp
index eb1d4fe..3e8b6d7 100644
--- a/main.cpp
+++ b/main.cpp
@@ -1,66 +1,14 @@
 #include <iostream>
-#include <lfr.h>
-#include <lfr_socket.h>
-#include <uart_communication.h>
 #include "lfr_state_machine.h"
 #include "lfr_states.h"
 
+
+
 int main(void)
 {
     std::cout << "started central" << std::endl;
-
-    const int thresholdBinary = 140;
-    const int videoHeight = 720;
-    const int videoWidth = 1280;
-    const int gaussKernelSize = 11;
-
-    std::mutex mutex;
-
     // Init State Machine;
     std::cout << "create State Machine" << std::endl;
     LFR_StateMachine stateMachine(State::Idle::getInstance());
-
-    // Init LFR Autonomous mode
-    std::cout << "create lfr" << std::endl;
-    LFR lfr(videoHeight, videoWidth, thresholdBinary, gaussKernelSize, [&](std::exception const &ex)
-    {
-        std::unique_lock<std::mutex> lock(mutex);
-        std::cerr<<"camera exception:"<<ex.what()<<std::endl;
-        return false;
-    });
-
-    // Init UART Communication
-    std::cout << "create uart" << std::endl;
-    LFR_UART uartCommunicator;
-
-    // Init Socket Communication
-    std::cout << "create socket" << std::endl;
-    LFR_Socket socket([&](std::exception const &ex)
-    {
-        std::unique_lock<std::mutex> lock(mutex);
-        std::cerr<<"socket exception:"<<ex.what()<<std::endl;
-        return false;
-    });
-
-    // Connect String parser to socket
-    socket.addListener([&](LFR_Socket::LFR_Telegram telegram)
-    {
-        std::unique_lock<std::mutex> lock(mutex);
-        std::cout << telegram;
-    }, &mutex);
-    socket.startLoop();
-
-
-    //Start the permanent loop
-    char input;
-    std::cout << "press q to quit" << std::endl;
-    std::cin >> input;
-    std::cout << "cinned" << std::endl;
-    while (input != 'q')
-    {
-        std::cin >> input;
-        std::cout << "cinned" << std::endl;
-    }
-    std::cout << "Exiting central" << std::endl;
     return 0;
 }
\ No newline at end of file