diff --git a/Makefile b/Makefile
index c34b32e..80ae2f4 100644
--- a/Makefile
+++ b/Makefile
@@ -1,7 +1,7 @@
 CFLAGS=-g -std=c11 -pedantic # -Wall -Werror
 LDFLAGS=-lpthread
 CC=gcc
-OBJECTS=main.o gamepad_output.o imu_output.o
+OBJECTS=main.o gamepad_output.o imu_output.o input_dev.o output_dev.o
 TARGET=rogue_enemy
 
 all: $(TARGET)
diff --git a/imu_output.c b/imu_output.c
index fc46725..06d0ae8 100644
--- a/imu_output.c
+++ b/imu_output.c
@@ -6,6 +6,11 @@
 void *imu_thread_func(void *ptr) {
     output_dev_t *out_dev = (output_dev_t*)ptr;
 
+    /*timeval now = {0};
+	gettimeofday(&now, NULL);
+	secAtInit = now.tv_sec;
+	usecAtInit = now.tv_usec;*/
+
     for (;;) {
         pthread_mutex_lock(&out_dev->ctrl_mutex);
 
diff --git a/input_dev.c b/input_dev.c
new file mode 100644
index 0000000..582f42e
--- /dev/null
+++ b/input_dev.c
@@ -0,0 +1,41 @@
+#include <stdio.h>
+#include <signal.h>
+#include <unistd.h>
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <termios.h>
+
+#include "input_dev.h"
+
+int open_and_hide_input() {
+    int fd = -1;
+    char buf[256];
+
+    fd = open("/dev/input/event3", O_RDONLY);
+    if (fd == -1) {
+        perror("open_port: Unable to open /dev/ttyAMA0 - ");
+        return(-1);
+    }
+
+    // Turn off blocking for reads, use (fd, F_SETFL, FNDELAY) if you want that
+    //fcntl(fd, F_SETFL, 0);
+
+    while(1){
+        int n = read(fd, (void*)buf, 255);
+        if (n < 0) {
+            perror("Read failed - ");
+        return -1;
+        } else if (n == 0) {
+            printf("No data on port\n");
+        } else {
+            buf[n] = '\0';
+            printf("%i bytes read : %s", n, buf);
+        }
+        sleep(1);
+        printf("i'm still doing something");
+    }
+    close(fd);
+    return fd;
+}
\ No newline at end of file
diff --git a/input_dev.h b/input_dev.h
index 2cbf659..a3d8148 100644
--- a/input_dev.h
+++ b/input_dev.h
@@ -1,12 +1,12 @@
 #pragma once
 
-#include <inttypes.h>
-#include <pthread.h>
+#include "rogue_enemy.h"
 
 #define INPUT_DEV_CTRL_FLAG_EXIT 0x00000001U
-#define INPUT_DEV_CTRL_FLAG_DATA 0x00000002U
 
 typedef struct input_dev {
     pthread_mutex_t ctrl_mutex;
     uint32_t crtl_flags;
-} input_dev_t;
\ No newline at end of file
+} input_dev_t;
+
+int open_and_hide_input();
\ No newline at end of file
diff --git a/main.c b/main.c
index b76ed2c..31681bb 100644
--- a/main.c
+++ b/main.c
@@ -1,11 +1,4 @@
-#include <stdio.h>
 #include <signal.h>
-#include <unistd.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <termios.h>
 
 #include "imu_output.h"
 #include "gamepad_output.h"
@@ -22,27 +15,42 @@ output_dev_t gamepadd_dev = {
   .crtl_flags = 0x00000000U,
 };
 
+void request_termination() {
+  pthread_mutex_lock(&imu_dev.ctrl_mutex);
+  imu_dev.crtl_flags |= OUTPUT_DEV_CTRL_FLAG_EXIT;
+  pthread_mutex_unlock(&imu_dev.ctrl_mutex);
+
+  pthread_mutex_lock(&gamepadd_dev.ctrl_mutex);
+  gamepadd_dev.crtl_flags |= OUTPUT_DEV_CTRL_FLAG_EXIT;
+  pthread_mutex_unlock(&gamepadd_dev.ctrl_mutex);
+}
+
 void sig_handler(int signo)
 {
   if (signo == SIGINT) {
-    pthread_mutex_lock(&imu_dev.ctrl_mutex);
-    imu_dev.crtl_flags |= OUTPUT_DEV_CTRL_FLAG_EXIT;
-    pthread_mutex_unlock(&imu_dev.ctrl_mutex);
-
-    pthread_mutex_lock(&gamepadd_dev.ctrl_mutex);
-    gamepadd_dev.crtl_flags |= OUTPUT_DEV_CTRL_FLAG_EXIT;
-    pthread_mutex_unlock(&gamepadd_dev.ctrl_mutex);
-  
+    request_termination();
     printf("received SIGINT\n");
   }
 }
 
 int main(int argc, char ** argv) {
-  
+  imu_dev.fd = create_imu("/dev/uinput", "Virtual IMU - ROGueENEMY");
+  if (imu_dev.fd < 0) {
+    fprintf(stderr, "Unable to create IMU virtual device\n");
+    return EXIT_FAILURE;
+  }
+
+  gamepadd_dev.fd = create_gamepad("/dev/uinput", "Virtual Controller - ROGueENEMY");
+  if (gamepadd_dev.fd < 0) {
+    close(imu_dev.fd);
+    fprintf(stderr, "Unable to create gamepad virtual device\n");
+    return EXIT_FAILURE;
+  }
+
   __sighandler_t sigint_hndl = signal(SIGINT, sig_handler); 
   if (sigint_hndl == SIG_ERR) {
-    fprintf(stderr, "Error registering SIGINT handler");
-    return -1;
+    fprintf(stderr, "Error registering SIGINT handler\n");
+    return EXIT_FAILURE;
   }
 
   int ret = 0;
@@ -51,15 +59,17 @@ int main(int argc, char ** argv) {
 
   int imu_thread_creation = pthread_create(&imu_thread, NULL, imu_thread_func, (void*)(&imu_dev));
   if (imu_thread_creation != 0) {
-    fprintf(stderr, "Error creating IMU output thread: %d", imu_thread_creation);
+    fprintf(stderr, "Error creating IMU output thread: %d\n", imu_thread_creation);
     ret = -1;
+    request_termination();
     goto imu_thread_err;
   }
   
   int gamepad_thread_creation = pthread_create(&gamepad_thread, NULL, gamepad_thread_func, (void*)(&gamepadd_dev));
   if (gamepad_thread_creation != 0) {
-    fprintf(stderr, "Error creating gamepad output thread: %d", gamepad_thread_creation);
+    fprintf(stderr, "Error creating gamepad output thread: %d\n", gamepad_thread_creation);
     ret = -1;
+    request_termination();
     goto gamepad_thread_err;
   }
 
@@ -69,34 +79,5 @@ gamepad_thread_err:
   pthread_join(imu_thread, NULL); 
 
 imu_thread_err:
-  return ret;
-
-  int fd;
-  char buf[256];
-
-  fd = open("/dev/input/event3", O_RDONLY);
-  if (fd == -1) {
-    perror("open_port: Unable to open /dev/ttyAMA0 - ");
-    return(-1);
-  }
-
-  // Turn off blocking for reads, use (fd, F_SETFL, FNDELAY) if you want that
-  //fcntl(fd, F_SETFL, 0);
-
-  while(1){
-  int n = read(fd, (void*)buf, 255);
-    if (n < 0) {
-      perror("Read failed - ");
-      return -1;
-    } else if (n == 0) {
-      printf("No data on port\n");
-    } else {
-      buf[n] = '\0';
-      printf("%i bytes read : %s", n, buf);
-    }
-    sleep(1);
-    printf("i'm still doing something");
-  }
-  close(fd);
-  return 0;
+  return ret == 0 ? EXIT_SUCCESS : EXIT_FAILURE;
 }
\ No newline at end of file
diff --git a/output_dev.c b/output_dev.c
new file mode 100644
index 0000000..c4d2867
--- /dev/null
+++ b/output_dev.c
@@ -0,0 +1,139 @@
+#include "output_dev.h"
+
+int create_imu(const char* uinput_path, const char* name) {
+    int fd = open(uinput_path, O_WRONLY | O_NONBLOCK);
+	if(fd < 0) {
+        fd = -1;
+        close(fd);
+        goto create_imu_err;
+    }
+	
+	struct uinput_setup dev = {0};
+	if (strlen(name) < UINPUT_MAX_NAME_SIZE) {
+        strcpy(dev.name, name);
+    } else {
+        strncpy(dev.name, name, UINPUT_MAX_NAME_SIZE-1);
+    }
+
+	dev.id.bustype = BUS_VIRTUAL;
+	dev.id.vendor = OUTPUT_DEV_VENDOR_ID;
+	dev.id.product = OUTPUT_DEV_PRODUCT_ID;
+	
+	ioctl(fd, UI_SET_PROPBIT, INPUT_PROP_ACCELEROMETER);
+	ioctl(fd, UI_SET_EVBIT, EV_ABS);
+	//ioctl(fd, UI_SET_EVBIT, EV_KEY);
+	ioctl(fd, UI_SET_EVBIT, EV_MSC);
+	ioctl(fd, UI_SET_MSCBIT, MSC_TIMESTAMP);
+
+	ioctl(fd, UI_SET_ABSBIT, ABS_X);
+	ioctl(fd, UI_SET_ABSBIT, ABS_Y);
+	ioctl(fd, UI_SET_ABSBIT, ABS_Z);
+	ioctl(fd, UI_SET_ABSBIT, ABS_RX);
+	ioctl(fd, UI_SET_ABSBIT, ABS_RY);
+	ioctl(fd, UI_SET_ABSBIT, ABS_RZ);
+
+	//ioctl(fd, UI_SET_KEYBIT, BTN_TRIGGER);
+	//ioctl(fd, UI_SET_KEYBIT, BTN_THUMB);
+	
+	struct uinput_abs_setup devAbsX = {0};
+	devAbsX.code = ABS_X;
+	devAbsX.absinfo.minimum = -ACCEL_RANGE;
+	devAbsX.absinfo.maximum = ACCEL_RANGE;
+	devAbsX.absinfo.resolution = 255; // 255 units = 1g
+	devAbsX.absinfo.fuzz = 5;
+	devAbsX.absinfo.flat = 0;
+	if(ioctl(fd, UI_ABS_SETUP, &devAbsX) < 0) {
+        fd = -1;
+        close(fd);
+        goto create_imu_err;
+    }
+
+	struct uinput_abs_setup devAbsY = {0};
+	devAbsY.code = ABS_Y;
+	devAbsY.absinfo.minimum = -ACCEL_RANGE;
+	devAbsY.absinfo.maximum = ACCEL_RANGE;
+	devAbsY.absinfo.resolution = 255; // 255 units = 1g
+	devAbsY.absinfo.fuzz = 5;
+	devAbsY.absinfo.flat = 0;
+	if(ioctl(fd, UI_ABS_SETUP, &devAbsY) < 0) {
+        fd = -1;
+        close(fd);
+        goto create_imu_err;
+    }
+	
+	struct uinput_abs_setup devAbsZ = {0};
+	devAbsZ.code = ABS_Z;
+	devAbsZ.absinfo.minimum = -ACCEL_RANGE;
+	devAbsZ.absinfo.maximum = ACCEL_RANGE;
+	devAbsZ.absinfo.resolution = 255; // 255 units = 1g
+	devAbsZ.absinfo.fuzz = 5;
+	devAbsZ.absinfo.flat = 0;
+	if(ioctl(fd, UI_ABS_SETUP, &devAbsZ) < 0) {
+        fd = -1;
+        close(fd);
+        goto create_imu_err;
+    }
+	
+	struct uinput_abs_setup devAbsRX = {0};
+	devAbsRX.code = ABS_RX;
+	devAbsRX.absinfo.minimum = -GYRO_RANGE;
+	devAbsRX.absinfo.maximum = GYRO_RANGE;
+	devAbsRX.absinfo.resolution = 1; // 1 unit = 1 degree/s
+	devAbsRX.absinfo.fuzz = 0;
+	devAbsRX.absinfo.flat = GYRO_DEADZONE;
+	if(ioctl(fd, UI_ABS_SETUP, &devAbsRX) < 0) {
+        fd = -1;
+        close(fd);
+        goto create_imu_err;
+    }
+
+	struct uinput_abs_setup devAbsRY = {0};
+	devAbsRY.code = ABS_RY;
+	devAbsRY.absinfo.minimum = -GYRO_RANGE;
+	devAbsRY.absinfo.maximum = GYRO_RANGE;
+	devAbsRY.absinfo.resolution = 1; // 1 unit = 1 degree/s
+	devAbsRY.absinfo.fuzz = 0;
+	devAbsRY.absinfo.flat = GYRO_DEADZONE;
+	if(ioctl(fd, UI_ABS_SETUP, &devAbsRY) < 0) {
+        fd = -1;
+        close(fd);
+        goto create_imu_err;
+    }
+	
+	struct uinput_abs_setup devAbsRZ = {0};
+	devAbsRZ.code = ABS_RZ;
+	devAbsRZ.absinfo.minimum = -GYRO_RANGE;
+	devAbsRZ.absinfo.maximum = GYRO_RANGE;
+	devAbsRZ.absinfo.resolution = 1; // 1 unit = 1 degree/s
+	devAbsRZ.absinfo.fuzz = 0;
+	devAbsRZ.absinfo.flat = GYRO_DEADZONE;
+	if(ioctl(fd, UI_ABS_SETUP, &devAbsRZ) < 0) {
+        fd = -1;
+        close(fd);
+        goto create_imu_err;
+    }
+		
+	if(ioctl(fd, UI_DEV_SETUP, &dev) < 0) {
+        fd = -1;
+        close(fd);
+        goto create_imu_err;
+    }
+
+	if(ioctl(fd, UI_DEV_CREATE) < 0) {
+        fd = -1;
+        close(fd);
+        goto create_imu_err;
+    }
+
+    int64_t secAtInit = 0;
+	int64_t usecAtInit = 0;
+	
+create_imu_err:
+    return fd;
+}
+
+int create_gamepad(const char* uinput_path, const char* name) {
+
+create_gamepad_err:
+    return -1;
+}
\ No newline at end of file
diff --git a/output_dev.h b/output_dev.h
index 80d8a3a..78e1305 100644
--- a/output_dev.h
+++ b/output_dev.h
@@ -1,14 +1,28 @@
 #pragma once
 
-#include <inttypes.h>
-#include <pthread.h>
+#include "rogue_enemy.h"
+
+#define OUTPUT_DEV_VENDOR_ID      0x4532
+#define OUTPUT_DEV_PRODUCT_ID     0x0924
 
 #define OUTPUT_DEV_CTRL_FLAG_EXIT 0x00000001U
 #define OUTPUT_DEV_CTRL_FLAG_DATA 0x00000002U
 
+#define ACCEL_RANGE 512
+#define GYRO_RANGE  2000 // max range is +/- 35 radian/s
+
+#define GYRO_DEADZONE 1 // degrees/s to count as zero movement
+
 typedef struct output_dev {
     int fd;
 
     pthread_mutex_t ctrl_mutex;
     uint32_t crtl_flags;
-} output_dev_t;
\ No newline at end of file
+
+    uint32_t max_events;
+    uint32_t events_count;
+    struct input_event events_list;
+} output_dev_t;
+
+int create_imu(const char* uinput_path, const char* name);
+int create_gamepad(const char* uinput_path, const char* name);
\ No newline at end of file
diff --git a/rogue_enemy.h b/rogue_enemy.h
new file mode 100644
index 0000000..25dcd0b
--- /dev/null
+++ b/rogue_enemy.h
@@ -0,0 +1,15 @@
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <inttypes.h>
+#include <fcntl.h>
+#include <time.h>
+#include <errno.h>
+#include <sys/time.h>
+#include <unistd.h>
+#include <string.h>
+
+#include <linux/uinput.h>
+#include <linux/input.h>
+
+#include <pthread.h>
\ No newline at end of file