diff --git a/.cargo/config b/.cargo/config
index 80e9981..44cc811 100644
--- a/.cargo/config
+++ b/.cargo/config
@@ -3,6 +3,7 @@ target = "armv5te-unknown-linux-musleabi"
 
 [target.armv5te-unknown-linux-musleabi]
 linker = "rust-lld"
+runner = "./upload.sh"
 
 [target.armv5te-unknown-linux-gnueabi]
 linker = "/usr/bin/arm-linux-gnueabi-gcc"
diff --git a/Cargo.lock b/Cargo.lock
index d2586e6..630c249 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -179,9 +179,9 @@ dependencies = [
 
 [[package]]
 name = "ev3dev-lang-rust"
-version = "0.12.1"
+version = "0.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d275b47949d28dbb58753369e37b4fae3b0643db685a2673ae189ad3cf286862"
+checksum = "029332714b8e1658454779f5dba942de0f2d408e21f63cdc794b13792eca33ee"
 dependencies = [
  "ev3dev-lang-rust-derive",
  "framebuffer",
@@ -202,13 +202,13 @@ dependencies = [
 
 [[package]]
 name = "ev3dev-pid-linefollow"
-version = "0.1.0"
+version = "1.0.0"
 dependencies = [
  "ev3dev-lang-rust",
  "exec",
  "image",
  "imageproc",
- "itertools",
+ "itertools 0.12.0",
  "paste",
  "pid",
  "rand 0.8.5",
@@ -367,7 +367,7 @@ dependencies = [
  "approx",
  "conv",
  "image",
- "itertools",
+ "itertools 0.10.5",
  "nalgebra",
  "num",
  "rand 0.7.3",
@@ -385,6 +385,15 @@ dependencies = [
  "either",
 ]
 
+[[package]]
+name = "itertools"
+version = "0.12.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "25db6b064527c5d482d0423354fcd07a89a2dfe07b67892e62411946db7f07b0"
+dependencies = [
+ "either",
+]
+
 [[package]]
 name = "jpeg-decoder"
 version = "0.3.0"
diff --git a/Cargo.toml b/Cargo.toml
index 5133ae1..88b69a7 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,10 +1,10 @@
 [package]
 name = "ev3dev-pid-linefollow"
-version = "0.1.0"
+version = "1.0.0"
 edition = "2021"
 
 [dependencies]
-ev3dev-lang-rust = { version = "0.12.0", features = ["screen"] }
+ev3dev-lang-rust = { version = "0.13.0", features = ["screen"] }
 image = "0.24"
 imageproc = "0.23"
 rusttype = "0.9"
@@ -12,9 +12,11 @@ paste = "1.0"
 pid = "4.0"
 thiserror = "1.0"
 rand = "0.8"
-itertools = "0.10"
+itertools = "0.12"
 exec = "0.3"
 
 [profile.release]
+opt-level = "z"
 lto = true
+codegen-units = 1
 strip = "debuginfo"
diff --git a/src/buttons.rs b/src/buttons.rs
index 390493f..39cd86b 100644
--- a/src/buttons.rs
+++ b/src/buttons.rs
@@ -1,4 +1,4 @@
-use ev3dev_lang_rust::Ev3Button;
+use ev3dev_lang_rust::Button;
 use ev3dev_lang_rust::Ev3Result;
 use paste::paste;
 
@@ -7,7 +7,7 @@ macro_rules! button_impl {
         paste! {
 
             pub struct SmartEv3Buttons {
-                buttons: Ev3Button,
+                buttons: Button,
                 $(
                     [<last_ $name>]: bool,
                 )*
@@ -15,7 +15,7 @@ macro_rules! button_impl {
 
             impl SmartEv3Buttons {
                 pub fn new() -> Ev3Result<Self> {
-                    let buttons = Ev3Button::new()?;
+                    let buttons = Button::new()?;
                     buttons.process();
                     $(
                         let [<last_ $name>] = buttons.[<is_ $name>]();
diff --git a/src/main.rs b/src/main.rs
index 7f55db1..3497d3e 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -11,7 +11,6 @@ use ev3dev_lang_rust::{
 use exec::execvp;
 use itertools::Itertools;
 use pid::Pid;
-use rand::{thread_rng, Rng};
 use rusttype::Font;
 use std::{
     env,
@@ -51,8 +50,8 @@ fn try_main() -> Result<(), Box<dyn Error>> {
     })?;
     let mut buttons = SmartEv3Buttons::new()?;
 
-    left_motor.set_polarity(LargeMotor::POLARITY_INVERSED)?;
-    right_motor.set_polarity(LargeMotor::POLARITY_INVERSED)?;
+    left_motor.set_polarity(LargeMotor::POLARITY_NORMAL)?;
+    right_motor.set_polarity(LargeMotor::POLARITY_NORMAL)?;
     left_motor.set_stop_action(LargeMotor::STOP_ACTION_BRAKE)?;
     right_motor.set_stop_action(LargeMotor::STOP_ACTION_BRAKE)?;
 
diff --git a/upload.sh b/upload.sh
index b48c0fa..1f0af6f 100755
--- a/upload.sh
+++ b/upload.sh
@@ -1,2 +1,2 @@
 #!/bin/sh
-cargo build --release && scp target/armv5te-unknown-linux-musleabi/release/ev3dev-pid-linefollow robot@ev3dev:/home/robot/
+scp "$1" robot@ev3dev:/home/robot/