diff --git a/leo/ruote.py b/leo/ruote.py
index bb90d11..7de777c 100644
--- a/leo/ruote.py
+++ b/leo/ruote.py
@@ -1,9 +1,11 @@
-from pybricks.parameters import Port, Stop
+from pybricks.hubs import InventorHub
+from pybricks.parameters import Axis, Port, Stop
 from pybricks.pupdevices import Motor
-from pybricks.tools import wait
+from pybricks.tools import vector, wait
 
 # from pybricks.hub import PrimHub
 
+hub = InventorHub(top_side=vector(1, 1, 0), front_side=vector(-1, 1, 0))
 mDestra = Motor(Port.F)
 mSinistra = Motor(Port.B)
 
@@ -15,7 +17,7 @@ def vai_avanti(speed, gradi):
 
 
 def turn(speed_L, speed_R, gradi):
-    print("girano le palle")
+    print("girogiro")
     mSinistra.run_angle(speed_L, gradi, then=Stop.NONE, wait=False)
     mDestra.run_angle(speed_R, gradi, then=Stop.NONE, wait=True)
 
@@ -31,8 +33,12 @@ turn(1000, 1000, 120)
 # vai_avanti(1000, 360)
 # turn(1000, 1000, 360)
 
-# giro = hub.imu.heading()
-# print(giro)
+giroX = hub.imu.rotation(Axis.X)
+giroY = hub.imu.rotation(Axis.Y)
+giroZ = hub.imu.rotation(Axis.Z)
+print(giroX)
+print(giroY)
+print(giroZ)
 
 while not (mSinistra.done() and mDestra.done()):
     wait(10)