diff --git a/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino b/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino
index c32e3b41b30ed8d5dc0e58491546bf190020a22c..aa4848ae0b9e4e0007e7932f7b4c56e68ff5102e 100644
--- a/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino
+++ b/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino
@@ -1,8 +1,9 @@
-#include <esp_now.h> 
 #include <WiFi.h> 
 #include <Wire.h> 
-#include <SparkFun_VL53L1X.h> 
 #include <Arduino.h> 
+#include <esp_now.h> 
+#include <SparkFun_VL53L1X.h> 
+#include <Adafruit_MPL3115A2.h>
  
 #include "Camera.h" 
 #include "utilities.h" 
@@ -37,6 +38,7 @@ int count_var = 0;
 int print_count = 0; 
 int change_count =0; 
 int Lidar_flag = 0; 
+int Baro_flag = 0; 
  
 // Define variables to be sent; 
 int Sent_tx = 0; 
@@ -54,7 +56,10 @@ int8_t goal_id[3] = {g1, g2, g3};
 SFEVL53L1X distanceSensor; 
 int budgetIndex = 4; 
 int budgetValue[7] = {15, 20, 33, 50, 100, 200, 500}; 
- 
+
+// Define Barometer variables
+Adafruit_MPL3115A2 baro;
+
 // Define LED variable 
 int LED = LED_BUILTIN; 
  
@@ -68,7 +73,8 @@ typedef struct struct_message {
   int Rrx; 
   int Rry; 
   int Rrz; 
-  int Rdist; 
+  int Rdist;
+  int Rbaro;
   String DebugM; 
   int Spwm1; 
   int Spwm2; 
@@ -114,7 +120,7 @@ void OnDataRecv(const uint8_t * mac, const uint8_t *incomingData, int len) {
   count = 0; 
   print_count=0; 
   change_count = 0;   
-   change_count = 0;   
+  change_count = 0;   
 } 
  
 // =============================== All the setup =========================================== 
@@ -126,15 +132,16 @@ Camera cam(&interface);
 // Create the motor shield object with the default I2C address 
 Adafruit_MotorShield AFMS = Adafruit_MotorShield(); 
 // changed 
-Adafruit_DCMotor *motorVertical_L = AFMS.getMotor(1);  // pwm1 
-Adafruit_DCMotor *motorVertical_R = AFMS.getMotor(2);  // pwm2 
-Adafruit_DCMotor *motorLeft = AFMS.getMotor(3);        // pwm3 
-Adafruit_DCMotor *motorRight = AFMS.getMotor(4);       // pwm4  
+Adafruit_DCMotor *motorVertical_L = AFMS.getMotor(1);  // pwm1
+Adafruit_DCMotor *motorVertical_R = AFMS.getMotor(2);  // pwm2
+Adafruit_DCMotor *motorLeft = AFMS.getMotor(3);        // pwm3
+Adafruit_DCMotor *motorRight = AFMS.getMotor(4);       // pwm4
+
 // ==================================== Set up ================================================= 
 void setup() { 
   // Init Serial Monitor 
-  Serial.begin(115200); 
-  Wire.begin(); 
+  Serial.begin(115200);
+  Wire.begin();
   interface.begin(); //communication between ESP and OpenMV 
   AFMS.begin();  // create with the default frequency 1.6KHz 
   // -------------- LED part -------------------- 
@@ -144,16 +151,25 @@ void setup() {
    
   // -------------- lidar part -------------------- 
   if (distanceSensor.begin() == 0){ 
-    Serial.println("Sensor online!"); 
+    Serial.println("Lidar online!"); 
     Lidar_flag = 1; 
-  }else { 
+  } else { 
     Lidar_flag = 0; 
   } 
-      
+  
   distanceSensor.startRanging(); 
   distanceSensor.setIntermeasurementPeriod(budgetValue[budgetIndex]); 
-   
- // --------------------------- esp now --------------------------- 
+
+  // ----------------- barometer -----------------
+  if (baro.begin()) {
+    Serial.println("Barometer online!");
+    Baro_flag = 1;
+    baro.setSeaPressure(1016);    // STD SLP = 1013.26 hPa
+  } else {
+    Baro_flag = 0;
+  }
+  
+  // --------------------------- esp now --------------------------- 
   // Set device as a Wi-Fi Station 
   WiFi.mode(WIFI_STA); 
  
@@ -203,7 +219,7 @@ void loop()
       Sent_rx = rx; 
       Sent_ry = ry; 
       Sent_rz = rz;  
-  }else{ 
+  } else{ 
       Sent_tx = 0; 
       Sent_ty = 0; 
       Sent_tz = 0; // cm 
@@ -213,8 +229,13 @@ void loop()
   } 
   if (Lidar_flag == 1){ 
     Sent_dist = distanceSensor.getDistance(); // Lidar distance (use the real Lidar data) 
-  }else { 
+  } else { 
     Sent_dist = 0; 
+  }
+  if (Baro_flag == 1){ 
+    Sent_baro = baro.getAltitude();           // Barometer altitude (use the real Barometer data) 
+  } else {
+    Sent_baro = 0; 
   } 
   // ========== lidar state info ========= 
   if (Sent_dist < 300 && Sent_dist > 0){ 
@@ -230,6 +251,7 @@ void loop()
   receivedData.Rry = Sent_ry;  
   receivedData.Rrz = Sent_rz; 
   receivedData.Rdist = Sent_dist; 
+  receivedData.Rbaro = Sent_baro; 
   send_var_once(); 
   print_received_Data(); 
    
diff --git a/Code/Control/Laptop_Code/basic_comm_test/ESP32_master/ESP32_master.ino b/Code/Control/Laptop_Code/basic_comm_test/ESP32_master/ESP32_master.ino
index 446b2506f8497ee6d91e1e8a121d0b4f0ffc28cb..c2753856cb166c114ced662fde44f680dcbc6b66 100644
--- a/Code/Control/Laptop_Code/basic_comm_test/ESP32_master/ESP32_master.ino
+++ b/Code/Control/Laptop_Code/basic_comm_test/ESP32_master/ESP32_master.ino
@@ -30,6 +30,7 @@ typedef struct struct_message {
   int Rry;
   int Rrz;
   int Rdist;
+  int Rbaro;
   String DebugM;
   int Spwm1;
   int Spwm2;
@@ -71,6 +72,7 @@ void OnDataRecv(const uint8_t * mac, const uint8_t *incomingData, int len) {
   Serial.println(sentData.Rry);
   Serial.println(sentData.Rrz);
   Serial.println(sentData.Rdist);
+  Serial.println(sentData.Rbaro);
   Serial.println(sentData.DebugM);
 }
 // =================================== setup ==================================================