sc = sensor_control()
    svc = servo_control()
    holding_registers = 3
    input_registers = 4

    context = cntxt
    slave_id = 0x00
    temp_address = 0x00

    servo_address=0x20
    servo_status_address=0x25

    servo_status_values = context[slave_id].getValues(holding_registers, servo_status_address, count=3)
    servo_status_values[0] = 2
    servo_status_values[1] = 1
    servo_status_values[2] = 1
    context[slave_id].setValues(holding_registers, servo_status_address, servo_status_values)
    svc.setRotate_main(servo_status_values[0])
    svc.setPosition_left(servo_status_values[1])
    svc.setPosition_right(servo_status_values[2])

    while(True):
        sdata = sc.retrieve_sensor_data()
        sdataLen = len(sdata)

        values = context[slave_id].getValues(holding_registers, temp_address, count=sdataLen*2+4) # sdataLentemps + 4xhum
        for x in range(0, sdataLen):
            numb, rem = divmod((sdata[x]["data"]["temperature"]),1)
            values [x*2] = int(numb)
            values [(x*2)+1] = int(rem*100)
        # humidity 1
        numb, rem = divmod((sdata[3]["data"]["humidity"]),1)
        values [10] = int(numb)
        values [11] = int(rem*10)
        # humidity 2
        numb, rem = divmod((sdata[4]["data"]["humidity"]),1)
        values [12] = int(numb)
        values [13] = int(rem*10)
        #log.info("new values: " + str(values))
        context[slave_id].setValues(holding_registers, temp_address, values)


        # now, we read our own values.
        servo_values = context[slave_id].getValues(holding_registers, servo_address, count=3)
        servo_status_values = context[slave_id].getValues(holding_registers, servo_status_address, count=3)
        #log.info("new values: " + str(values))
        if (servo_values[0] != 0): # free rotation motor (main motor)
            # set the rotation
            # TODO: READ A POSITIONAL VALUE!
            svc.setRotate_main(servo_values[0])
            servo_status_values[0] = servo_values[0]
            servo_values[0] = 0;
        if (servo_values[1] != 0):
            svc.setPosition_left(servo_values[1]) # left valve (2)
            servo_status_values[1] = servo_values[1]
            servo_values[1] = 0;
        if (servo_values[2] != 0):
            svc.setPosition_right(servo_values[2]) # right valve (2)
            servo_status_values[2] = servo_values[2]
            servo_values[2] = 0;

        if (sdata[0]["data"]["temperature"] > 30): #max limit for sensor 1
            svc.setPosition_left(3)
            servo_status_values[1] = 3

        if (sdata[1]["data"]["temperature"] > 30): #max limit for sensor 2
            svc.setPosition_right(3)
            servo_status_values[2] = 3
        context[slave_id].setValues(holding_registers, servo_address, servo_values)
        context[slave_id].setValues(holding_registers, servo_status_address, servo_status_values)