diff --git a/src/comm.cpp b/src/comm.cpp
index 99d63b8..ae5d287 100644
--- a/src/comm.cpp
+++ b/src/comm.cpp
@@ -1,21 +1,18 @@
 #include "comm.h"
 
-#include <ArduinoOTA.h>
-#include <WiFiSettings.h>
 
-
-void setup_ota() {
+void CommunicationsController::initota() {
     ArduinoOTA.setHostname(WIFI_SSID);
     ArduinoOTA.setPassword(WIFI_PASSWORD);
     ArduinoOTA.begin();
 }
 
-void setup_wifi() {
+void CommunicationsController::init_wifi() {
     WiFiSettings.hostname = WIFI_SSID;
     WiFiSettings.password = WIFI_PASSWORD;
 
     WiFiSettings.onPortal = []() {
-        setup_ota();
+        ota();
     };
     WiFiSettings.onPortalWaitLoop = []() {
         ArduinoOTA.handle();
@@ -24,13 +21,50 @@ void setup_wifi() {
     WiFiSettings.connect();
 }
 
-void setup_comm() {
-    setup_wifi();
-    setup_ota();
+void CommunicationsController::init() {
+    ota();
+    wifi();
     WebMonitor.begin();
 }
 
-void comms_loop() {
+void CommunicationsController::process() {
     ArduinoOTA.handle();
+
+    if (!l4s) {
+        return;
+    }
+
+    if (l4s.connected()) {
+        handle_client();
+    } else {
+        create_connection();
+    }
+}
+
+void CommunicationsController::handle_client() {
+    l4s.flush();
+    recv = recv();
+    Serial.println(recv);
+}
+
+void CommunicationsController::parseLook4Sat(float* azimuth, float* altitude) {
+    azimuth = recv.substring();
+    altitude = recv.substring(); //TODO
+}
+
+void CommunicationsController::create_connection() {
+    l4s = l4sServer.accept();
 }
 
+String CommunicationsController::recv() {
+    String rec = "";
+
+    while (l4s.available()) {
+        rec += (char)(l4s.read());
+    }
+
+    if (rec.length() == 0) {
+        rec = "Ç";
+    }
+    return rec;
+}
diff --git a/src/comm.h b/src/comm.h
index 27df294..94c4461 100644
--- a/src/comm.h
+++ b/src/comm.h
@@ -1,10 +1,33 @@
+#include <ArduinoOTA.h>
 #include <WebMonitor.h>
+#include <ESP8266WiFi.h>
+#include <WiFiSettings.h>
 
+
+#define L4S_PORT 4533
 #define WIFI_SSID "VynTracker"
 #define WIFI_PASSWORD "senha1234"
 
-void setup_ota();
-void setup_wifi();
-void setup_comm();
 
-void comms_loop();
+#ifndef COMM_H
+#define COMM_H
+
+class CommunicationsController {
+    private:
+    String recv;
+    WifiClient l4s;
+    WifiServer l4sServer(L4S_PORT);
+
+    void recv();
+    void init_ota();
+    void init_wifi();
+    void handle_client();
+    void create_connection();
+
+    public:
+    void init();
+    void process();
+    void parseLook4Sat(float* azimuth, float* altitude);
+}
+
+#endif
diff --git a/src/main.cpp b/src/main.cpp
index a5dd5ef..1b5c370 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -5,12 +5,14 @@
 #include <LittleFS.h>
 
 ServoController controller;
+CommunicationsController comms;
 
 void setup() {
+    LittleFS.begin();
+    comms.init();
+
     controller.initServos();
     controller.initMag();
-    LittleFS.begin();
-    setup_comm();
 
     pinMode(15, OUTPUT);
     pinMode(12, OUTPUT);
@@ -20,14 +22,6 @@ void setup() {
 }
 
 void loop() {
-    comms_loop();
-
+    comms.process();
     controller.updateHeading();
-
-    digitalWrite(15, 1);
-    WebMonitor.printf("ON!");
-    delay(1000);
-    digitalWrite(15, 0);
-    WebMonitor.printf("OFF!");
-    delay(1000);
 }
diff --git a/src/servo.cpp b/src/servo.cpp
index 5bba9e5..9b3b365 100644
--- a/src/servo.cpp
+++ b/src/servo.cpp
@@ -1,5 +1,4 @@
 #include "servo.h"
-#include <WebMonitor>
 
 
 void ServoController::initServos() {
@@ -34,7 +33,7 @@ void ServoController::initMag() {
         WebMonitor.print("Sample: ");
         WebMonitor.println(mag.getSamples());
 
-        mag.setDeclination(DECLINATION);
+        mag.setDeclinationAngle(DECLINATION);
         WebMonitor.print("Declinação: ");
         WebMonitor.println(DECLINATION);
     } else {
@@ -45,7 +44,20 @@ void ServoController::initMag() {
 }
 
 void ServoController::updateHeading() {
+    mag.getHeadingDegrees();
+    sVector_t raw = mag.readRaw();
+    float tmp = raw.HeadingDegress;
     
+    headingBuffer[bufferPos++] = tmp;
+    if (bufferPos > HEADING_BUFFER_LENGTH) {
+        bufferPos = 0;
+    }
+
+    headingDegrees = 0;
+    for (byte i = 0; i < HEADING_BUFFER_LENGTH; i++) {
+        headingDegrees += headingBuffer[i];
+    }
+    headingDegrees /= HEADING_BUFFER_LENGTH;
 }
 
 void ServoController::moveToAzAlt() {
diff --git a/src/servo.h b/src/servo.h
index 244e9d1..406eded 100644
--- a/src/servo.h
+++ b/src/servo.h
@@ -1,14 +1,18 @@
-#include <Servo>
-#include <DFRobot_QMC5883>
+#include <Servo.h>
+#include <WebMonitor.h>
+#include <DFRobot_QMC5883.h>
 
 #define DECLINATION -0.353429173528852
+#define HEADING_BUFFER_LENGTH 16
 
 #ifndef SERVO_H
 #define SERVO_H
 
 class ServoController {
     private:
-        float headingDegress;
+        int headingDegrees;
+        byte bufferPos = 0;
+        float headingBuffer[HEADING_BUFFER_LENGTH];
 
         Servo HrzSrv;
         Servo VrtSrv;