diff --git a/DataTypes.py b/DataTypes.py
index 1ae6f35..061cafa 100644
--- a/DataTypes.py
+++ b/DataTypes.py
@@ -19,6 +19,8 @@ class PosArray:
     def __getitem__(self, key): return self.data[key]
     def __iter__(self): return iter(self.data)
     def __repr__(self): return f"PosArray(\n{self.data}\n)"
+    def copy(self):
+        return PosArray(self.data.copy())
 
 
 @dataclass
@@ -37,6 +39,8 @@ class DegArray:
     def __getitem__(self, key): return self.data[key]
     def __iter__(self): return iter(self.data)
     def __repr__(self): return f"PosArray(\n{self.data}\n)"
+    def copy(self):
+        return DegArray(self.data.copy())
 
 @dataclass
 class RadArray:
@@ -53,6 +57,8 @@ class RadArray:
     def __getitem__(self, key): return self.data[key]
     def __iter__(self): return iter(self.data)
     def __repr__(self): return f"PosArray(\n{self.data}\n)"
+    def copy(self):
+        return RadArray(self.data.copy())
 
 @dataclass
 class RobotCommand:
diff --git a/RobotState/idle.py b/RobotState/idle.py
index f3bc752..b0c6ffa 100644
--- a/RobotState/idle.py
+++ b/RobotState/idle.py
@@ -1,4 +1,4 @@
-import RobotState
+from RobotState.RobotState import RobotState
 
 class IdleState(RobotState):
     def update(self, ctx, intent, dt):
diff --git a/RobotState/walking.py b/RobotState/walking.py
index 1c52411..b1dc8b0 100644
--- a/RobotState/walking.py
+++ b/RobotState/walking.py
@@ -4,7 +4,7 @@ import numpy as np
 import config as cfg
 import kinematics as kin
 import DataTypes as dt
-import RobotState
+from RobotState.RobotState import RobotState
 
 class WalkingState(RobotState):
 
diff --git a/main.py b/main.py
index b3cd014..a9d3316 100644
--- a/main.py
+++ b/main.py
@@ -15,6 +15,7 @@ import DataTypes as dt
 
 def main():
     intent = ControlIntent()
+    lock = threading.Lock()
     ctx = RobotContext()
 
     ctx.center_points = dt.PosArray([
@@ -29,7 +30,7 @@ def main():
 
     controller_thread = threading.Thread(
         target=controller_loop,
-        args=(intent,),
+        args=(intent, lock),
         daemon=True
     )
     controller_thread.start()