diff --git a/software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt b/software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt
index cdd2120..e662520 100644
--- a/software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt
+++ b/software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt
@@ -3,17 +3,15 @@ package com.rookiedev.hexapod
 import android.annotation.SuppressLint
 import android.app.AlertDialog
 import android.content.DialogInterface
-import android.content.Intent
 import android.os.Bundle
 import android.os.Handler
 import android.os.Looper
 import android.view.*
 import android.widget.ImageView
 import androidx.appcompat.app.AppCompatActivity
+import androidx.constraintlayout.widget.ConstraintLayout
 import com.rookiedev.hexapod.network.TCPClient
-import com.rookiedev.hexapod.network.TCPClient.OnConnectEstablished
-import com.rookiedev.hexapod.network.TCPClient.OnMessageReceived
-import com.rookiedev.hexapod.network.TCPClient.OnDisconnected
+import com.rookiedev.hexapod.network.TCPClient.*
 import kotlinx.coroutines.*
 import kotlin.math.PI
 import kotlin.math.atan2
@@ -75,12 +73,13 @@ class ControlActivity : AppCompatActivity() {
     private var radius = 0f
 
     private var tcpClient: TCPClient? = null
-    private var ip:String = ""
+    private var ip: String = ""
     private var port = 0
 
     private val scope = CoroutineScope(Job() + Dispatchers.IO)
 
     private var currentState: String = "standby"
+    private lateinit var progressBar: ConstraintLayout
 
 
     @SuppressLint("ClickableViewAccessibility")
@@ -96,6 +95,7 @@ class ControlActivity : AppCompatActivity() {
         controlWindowInsets(true)
 
         val controlCircle = findViewById<ImageView>(R.id.control_image)
+        progressBar = findViewById<ConstraintLayout>(R.id.progressBar)
 
         val vto: ViewTreeObserver = controlCircle.viewTreeObserver
         vto.addOnPreDrawListener(object : ViewTreeObserver.OnPreDrawListener {
@@ -190,7 +190,40 @@ class ControlActivity : AppCompatActivity() {
                 }
             }
         )
-        this.tcpClient = TCPClient(this, ip, port, object : OnMessageReceived {
+//        this.tcpClient = TCPClient(this, ip, port, object : OnMessageReceived {
+//            override fun messageReceived(message: String?) {
+//                if (message == null) {
+////                    alertDialog(DISCONNECTED)
+//                    println("no message")
+//                }
+//            }
+//        }, object : OnConnectEstablished {
+//            override fun onConnected() {
+////                udpClient.start()
+//                println("connected")
+//                Handler(Looper.getMainLooper()).post {
+//                    progressBar.visibility = View.GONE
+//                }
+//            }
+//        }, object : OnDisconnected{
+//            override fun onDisconnected() {
+//                Handler(Looper.getMainLooper()).post {
+//                    progressBar.visibility = View.GONE
+//                    alertDialog(0)
+//                }
+//            }
+//        }
+//        )
+//        this.tcpClient!!.start()
+
+//        alertDialog(0)
+    }
+
+    override fun onResume() {
+        super.onResume()
+        progressBar.visibility = View.VISIBLE
+
+        this.tcpClient = TCPClient(ip, port, object : OnMessageReceived {
             override fun messageReceived(message: String?) {
                 if (message == null) {
 //                    alertDialog(DISCONNECTED)
@@ -201,10 +234,14 @@ class ControlActivity : AppCompatActivity() {
             override fun onConnected() {
 //                udpClient.start()
                 println("connected")
+                Handler(Looper.getMainLooper()).post {
+                    progressBar.visibility = View.GONE
+                }
             }
-        }, object : OnDisconnected{
+        }, object : OnDisconnected {
             override fun onDisconnected() {
                 Handler(Looper.getMainLooper()).post {
+                    progressBar.visibility = View.GONE
                     alertDialog(0)
                 }
             }
@@ -212,7 +249,16 @@ class ControlActivity : AppCompatActivity() {
         )
         this.tcpClient!!.start()
 
-//        alertDialog(0)
+    }
+
+    override fun onPause() {
+        super.onPause()
+        println("on Pause")
+
+//        saveSharedPref()
+        tcpClient!!.stopClient()
+        tcpClient!!.interrupt()
+
     }
 
 
@@ -246,7 +292,8 @@ class ControlActivity : AppCompatActivity() {
         when (type) {
             0 -> {
                 alert.setTitle("Failed to connect")
-                alert.setMessage("Failed to connect to the Hexapod"
+                alert.setMessage(
+                    "Failed to connect to the Hexapod"
                 )
                 alert.setOnCancelListener(DialogInterface.OnCancelListener { finish() })
                 alert.setButton(AlertDialog.BUTTON_POSITIVE,
@@ -256,7 +303,6 @@ class ControlActivity : AppCompatActivity() {
         }
         alert.show()
     }
-
 }
 
 
diff --git a/software/android/app/src/main/java/com/rookiedev/hexapod/network/TCPClient.kt b/software/android/app/src/main/java/com/rookiedev/hexapod/network/TCPClient.kt
index a72e382..8b45861 100644
--- a/software/android/app/src/main/java/com/rookiedev/hexapod/network/TCPClient.kt
+++ b/software/android/app/src/main/java/com/rookiedev/hexapod/network/TCPClient.kt
@@ -1,17 +1,11 @@
 package com.rookiedev.hexapod.network
 
 import com.rookiedev.hexapod.ControlActivity
-import android.util.Log
 import java.io.*
-import java.net.InetAddress
-import java.net.InetSocketAddress
-import java.net.Socket
-import java.net.UnknownHostException
-import java.util.concurrent.locks.ReentrantLock
+import java.net.*
 
 
 class TCPClient(
-    c: ControlActivity,
     ip: String?,
     port: Int,
     messagelistener: OnMessageReceived?,
@@ -19,21 +13,17 @@ class TCPClient(
     ondisconnect: OnDisconnected?
 ) :
     Thread() {
-    private val controller: ControlActivity = c
-    private var TCPSocket:Socket? = null
+    private var TCPSocket: Socket? = null
     private var SERVERIP: InetAddress? = null
     private val SERVERPORT: Int
     private var serverAddr: InetSocketAddress? = null
     private var TCPOut: PrintWriter? = null
     private var TCPIn: BufferedReader? = null
-    private var TCPMessage: String? = null
     private var mMessageListener: OnMessageReceived? = null
     private var onConnected: OnConnectEstablished? = null
-    private var onDisconnected: OnDisconnected?=null
+    private var onDisconnected: OnDisconnected? = null
     private var isConnected = false
     private var pause = false // if the thread is paused by system
-    private var isNewData = false
-    private var newMessage:String? = null
     override fun run() {
         try {
             this.TCPSocket = Socket()
@@ -41,43 +31,26 @@ class TCPClient(
             this.TCPSocket!!.connect(serverAddr, 3000) // connecting socket and set timeout in 3s
             onConnected!!.onConnected()
             TCPOut = PrintWriter(
-                    BufferedWriter(OutputStreamWriter(this.TCPSocket!!.getOutputStream())),
-                    true
-                )
+                BufferedWriter(OutputStreamWriter(this.TCPSocket!!.getOutputStream())),
+                true
+            )
+            TCPIn = BufferedReader(InputStreamReader(this.TCPSocket!!.getInputStream()))
 //            sendMessage("test")
             isConnected = true
-            while(isConnected)
-            {
-//                if (isNewData)
-//                {
-//                    if (TCPOut != null && !TCPOut!!.checkError()) {
-//                        TCPOut!!.println(newMessage)
-//                        TCPOut!!.flush()
-//                    }
-//                    isNewData = false
-//                }else{
-//                    sleep(100)
-//                }
+            while (isConnected) {
                 sleep(1000)
             }
-        } catch (e: Exception) {
+        } catch (e: InterruptedException) {
 //            controller.cancelProgressDialog(java.lang.ModuleLayer.Controller.SERVERALERT)
-            println("unable to connect")
+            println(e)
 //            controller.alertDialog(0)
+//            onDisconnected!!.onDisconnected()
+        } catch (e: SocketTimeoutException) {
+            println(e)
             onDisconnected!!.onDisconnected()
         }
     }
 
-//    private fun keepAlive() {
-//        sendMessage(Constants.requestMessage(Constants.REQUEST_ISALIVE))
-//        try {
-//            TCPMessage = TCPIn!!.readLine()
-//            mMessageListener!!.messageReceived(TCPMessage)
-//        } catch (e: IOException) {
-//            controller.alertDialog(java.lang.ModuleLayer.Controller.DISCONNECTED)
-//        }
-//    }
-
     /**
      * Sends the message entered by client to the server
      *
@@ -86,17 +59,20 @@ class TCPClient(
     fun sendMessage(message: String?) {
 //        newMessage = message
 //        isNewData = true
-        if (TCPOut != null && !TCPOut!!.checkError()) {
-            TCPOut!!.println(message)
-            TCPOut!!.flush()
+
+        if (this.TCPOut != null && !this.TCPOut!!.checkError()) {
+            println("send message")
+            this.TCPOut!!.println(message)
+            this.TCPOut!!.flush()
         }
     }
 
-//    fun stopClient() {
+    fun stopClient() {
 //        sendMessage(Constants.requestMessage(Constants.REQUEST_DISCONNECT))
-//        pause = true
-//        isConnected = false
-//    }
+        pause = true
+        isConnected = false
+        this.TCPSocket!!.close()
+    }
 
     interface OnMessageReceived {
         fun messageReceived(message: String?)
@@ -124,4 +100,5 @@ class TCPClient(
         }
         pause = false
     }
+
 }
\ No newline at end of file
diff --git a/software/android/app/src/main/res/layout/activity_control.xml b/software/android/app/src/main/res/layout/activity_control.xml
index 3880795..952f347 100644
--- a/software/android/app/src/main/res/layout/activity_control.xml
+++ b/software/android/app/src/main/res/layout/activity_control.xml
@@ -1,121 +1,177 @@
 <?xml version="1.0" encoding="utf-8"?>
-<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+<FrameLayout xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:app="http://schemas.android.com/apk/res-auto"
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
     tools:context=".ControlActivity">
 
-    <androidx.constraintlayout.widget.ConstraintLayout
-        android:layout_width="0dp"
-        android:layout_height="match_parent"
-        android:layout_weight="1">
 
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="match_parent">
 
-        <Button
-            android:id="@+id/button_rotatex"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_marginStart="32dp"
-            android:layout_marginBottom="24dp"
-            android:paddingTop="24dp"
-            android:paddingBottom="24dp"
-            android:text="Rotate X"
-            app:layout_constraintBottom_toTopOf="@+id/button_rotatey"
-            app:layout_constraintEnd_toStartOf="@+id/button_climb"
-            app:layout_constraintHorizontal_chainStyle="packed"
-            app:layout_constraintStart_toStartOf="parent"
-            app:layout_constraintTop_toTopOf="parent"
-            app:layout_constraintVertical_chainStyle="packed" />
+        <androidx.constraintlayout.widget.ConstraintLayout
+            android:layout_width="0dp"
+            android:layout_height="match_parent"
+            android:layout_weight="1">
 
-        <Button
-            android:id="@+id/button_climb"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_marginStart="24dp"
-            android:layout_marginBottom="24dp"
-            android:paddingTop="24dp"
-            android:paddingBottom="24dp"
-            android:text="Climb"
-            app:layout_constraintBottom_toTopOf="@+id/button_twist"
-            app:layout_constraintStart_toEndOf="@+id/button_rotatex"
-            app:layout_constraintTop_toTopOf="parent"
-            app:layout_constraintVertical_chainStyle="packed" />
-
-
-        <Button
-            android:id="@+id/button_rotatey"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_marginStart="32dp"
-            android:layout_marginBottom="24dp"
-            android:paddingTop="24dp"
-            android:paddingBottom="24dp"
-            android:text="Rotate Y"
-            app:layout_constraintBottom_toTopOf="@+id/button_rotatez"
-            app:layout_constraintEnd_toStartOf="@+id/button_twist"
-            app:layout_constraintStart_toStartOf="parent"
-            app:layout_constraintTop_toBottomOf="@+id/button_rotatex" />
+            <TableLayout
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                app:layout_constraintBottom_toBottomOf="parent"
+                app:layout_constraintEnd_toEndOf="parent"
+                app:layout_constraintStart_toStartOf="parent"
+                app:layout_constraintTop_toTopOf="parent"
+                android:layout_marginRight="32dp"
+                android:layout_marginLeft="32dp">
 
-        <Button
-            android:id="@+id/button_twist"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_marginStart="24dp"
-            android:layout_marginBottom="24dp"
-            android:paddingTop="24dp"
-            android:paddingBottom="24dp"
-            android:text="Twist"
-            app:layout_constraintBottom_toTopOf="@+id/button6"
-            app:layout_constraintStart_toEndOf="@+id/button_rotatey"
-            app:layout_constraintTop_toBottomOf="@+id/button_climb" />
-
-        <Button
-            android:id="@+id/button_rotatez"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_marginStart="32dp"
-            android:paddingTop="24dp"
-            android:paddingBottom="24dp"
-            android:text="Rotate Z"
-            app:layout_constraintBottom_toBottomOf="parent"
-            app:layout_constraintEnd_toStartOf="@+id/button6"
-            app:layout_constraintStart_toStartOf="parent"
-            app:layout_constraintTop_toBottomOf="@+id/button_rotatey" />
+                <TableRow
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content">
 
-        <Button
-            android:id="@+id/button6"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_marginStart="24dp"
-            android:paddingTop="24dp"
-            android:paddingBottom="24dp"
-            android:text="Button"
-            android:visibility="invisible"
-            app:layout_constraintBottom_toBottomOf="parent"
-            app:layout_constraintStart_toEndOf="@+id/button_rotatez"
-            app:layout_constraintTop_toBottomOf="@+id/button_twist" />
+                    <Button
+                        android:id="@+id/button_rotatex"
+                        android:layout_width="match_parent"
+                        android:layout_height="wrap_content"
+                        android:layout_weight="1"
+                        android:paddingTop="24dp"
+                        android:paddingBottom="24dp"
+                        android:layout_margin="16dp"
+                        android:text="Rotate X"
+                        app:layout_constraintBottom_toTopOf="@+id/button_rotatey"
+                        app:layout_constraintEnd_toStartOf="@+id/button_climb"
+                        app:layout_constraintHorizontal_chainStyle="packed"
+                        app:layout_constraintStart_toStartOf="parent"
+                        app:layout_constraintTop_toTopOf="parent"
+                        app:layout_constraintVertical_chainStyle="packed" />
+
+                    <Button
+                        android:id="@+id/button_climb"
+                        android:layout_width="match_parent"
+                        android:layout_height="wrap_content"
+                        android:layout_weight="1"
+                        android:paddingTop="24dp"
+                        android:paddingBottom="24dp"
+                        android:layout_margin="16dp"
+                        android:text="Climb"
+                        app:layout_constraintBottom_toTopOf="@+id/button_twist"
+                        app:layout_constraintStart_toEndOf="@+id/button_rotatex"
+                        app:layout_constraintTop_toTopOf="parent"
+                        app:layout_constraintVertical_chainStyle="packed" />
+
+                </TableRow>
+
+                <TableRow
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content">
+
+                    <Button
+                        android:id="@+id/button_rotatey"
+                        android:layout_width="match_parent"
+                        android:layout_height="wrap_content"
+                        android:layout_weight="1"
+                        android:paddingTop="24dp"
+                        android:paddingBottom="24dp"
+                        android:layout_margin="16dp"
+                        android:text="Rotate Y"
+                        app:layout_constraintBottom_toTopOf="@+id/button_rotatez"
+                        app:layout_constraintEnd_toStartOf="@+id/button_twist"
+                        app:layout_constraintStart_toStartOf="parent"
+                        app:layout_constraintTop_toBottomOf="@+id/button_rotatex" />
+
+                    <Button
+                        android:id="@+id/button_twist"
+                        android:layout_width="match_parent"
+                        android:layout_height="wrap_content"
+                        android:layout_weight="1"
+                        android:paddingTop="24dp"
+                        android:paddingBottom="24dp"
+                        android:layout_margin="16dp"
+                        android:text="Twist"
+                        app:layout_constraintBottom_toTopOf="@+id/button6"
+                        app:layout_constraintStart_toEndOf="@+id/button_rotatey"
+                        app:layout_constraintTop_toBottomOf="@+id/button_climb" />
+
+                </TableRow>
+
+                <TableRow
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content">
+
+                    <Button
+                        android:id="@+id/button_rotatez"
+                        android:layout_width="match_parent"
+                        android:layout_height="wrap_content"
+                        android:layout_weight="1"
+                        android:paddingTop="24dp"
+                        android:paddingBottom="24dp"
+                        android:layout_margin="16dp"
+                        android:text="Rotate Z"
+                        app:layout_constraintBottom_toBottomOf="parent"
+                        app:layout_constraintEnd_toStartOf="@+id/button6"
+                        app:layout_constraintStart_toStartOf="parent"
+                        app:layout_constraintTop_toBottomOf="@+id/button_rotatey" />
+
+                    <Button
+                        android:id="@+id/button6"
+                        android:layout_width="match_parent"
+                        android:layout_height="wrap_content"
+                        android:layout_weight="1"
+                        android:paddingTop="24dp"
+                        android:paddingBottom="24dp"
+                        android:layout_margin="16dp"
+                        android:text="Button"
+                        android:visibility="invisible"
+                        app:layout_constraintBottom_toBottomOf="parent"
+                        app:layout_constraintStart_toEndOf="@+id/button_rotatez"
+                        app:layout_constraintTop_toBottomOf="@+id/button_twist" />
+
+                </TableRow>
+
+            </TableLayout>
+        </androidx.constraintlayout.widget.ConstraintLayout>
+
+        <androidx.constraintlayout.widget.ConstraintLayout
+            android:layout_width="0dp"
+            android:layout_height="match_parent"
+            android:layout_weight="1">
+
+            <ImageView
+                android:id="@+id/control_image"
+                android:layout_width="match_parent"
+                android:layout_height="match_parent"
+                android:layout_marginStart="32dp"
+                android:layout_marginTop="32dp"
+                android:layout_marginEnd="32dp"
+                android:layout_marginBottom="32dp"
+                app:layout_constraintBottom_toBottomOf="parent"
+                app:layout_constraintEnd_toEndOf="parent"
+                app:layout_constraintStart_toStartOf="parent"
+                app:layout_constraintTop_toTopOf="parent"
+                app:srcCompat="@drawable/ic_control_circle" />
+        </androidx.constraintlayout.widget.ConstraintLayout>
+
+    </LinearLayout>
 
-    </androidx.constraintlayout.widget.ConstraintLayout>
 
     <androidx.constraintlayout.widget.ConstraintLayout
-        android:layout_width="0dp"
+        android:id="@+id/progressBar"
+        android:layout_width="match_parent"
         android:layout_height="match_parent"
-        android:layout_weight="1">
+        android:background="@color/white"
+        tools:visibility="gone">
 
-        <ImageView
-            android:id="@+id/control_image"
-            android:layout_width="match_parent"
-            android:layout_height="match_parent"
-            android:layout_marginStart="32dp"
-            android:layout_marginTop="32dp"
-            android:layout_marginEnd="32dp"
-            android:layout_marginBottom="32dp"
+        <ProgressBar
+            android:id="@+id/progressBar3"
+            style="?android:attr/progressBarStyle"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
             app:layout_constraintBottom_toBottomOf="parent"
             app:layout_constraintEnd_toEndOf="parent"
             app:layout_constraintStart_toStartOf="parent"
-            app:layout_constraintTop_toTopOf="parent"
-            app:srcCompat="@drawable/ic_control_circle" />
+            app:layout_constraintTop_toTopOf="parent" />
+
     </androidx.constraintlayout.widget.ConstraintLayout>
 
-</LinearLayout>
\ No newline at end of file
+</FrameLayout>
\ No newline at end of file