diff --git a/backside.js b/backside.js
index c0f7847..cbdd27e 100644
--- a/backside.js
+++ b/backside.js
@@ -11,12 +11,12 @@ module.exports = {
   connect: function(port, callback) {
     var orb = sphero(port);
     orb.connect(function() {
-      orb.detectCollisions(); // 衝突判定を有効化
-      console.log("準備開始");	
+      console.log("準備開始");
       orb.startCalibration(); // 位置関係の補正
       setTimeout(function() {
         console.log("準備終了");
         orb.finishCalibration();
+        orb.detectCollisions(); // 衝突判定を有効化
         callback(orb);
       }, 10000);
     });
diff --git a/isStop.js b/isStop.js
new file mode 100644
index 0000000..6a891a0
--- /dev/null
+++ b/isStop.js
@@ -0,0 +1,21 @@
+var sphero = require("sphero");
+var orb = sphero("COM3");
+
+orb.connect(function() {
+  orb.startCalibration();
+  setTimeout(function() {
+    orb.finishCalibration();
+    orb.streamAccelerometer(10);
+    setInterval(function() {
+      orb.roll(255, 0);
+    }, 500);
+    orb.on("accelerometer", function(data) {
+      console.log(data.xAccel.value[0] + ", " + data.zAccel.value[0]);
+      // if (data.xAccel.value[0] < -600 || data.zAccel.value[0] < -600) {
+      //   console.log("動いている");
+      // } else {
+      //   console.log("止まっている");
+      // }
+    });
+  }, 5000);
+});
diff --git a/package.json b/package.json
index 1e38027..ffff4bc 100644
--- a/package.json
+++ b/package.json
@@ -5,6 +5,7 @@
   "main": "main.js",
   "dependencies": {},
   "devDependencies": {
+    "keypress": "^0.2.1",
     "sphero": "^0.7.0"
   },
   "scripts": {
diff --git a/velocity.js b/velocity.js
new file mode 100644
index 0000000..fa774eb
--- /dev/null
+++ b/velocity.js
@@ -0,0 +1,20 @@
+var sphero = require("sphero");
+var orb = sphero("COM7");
+
+orb.connect(function() {
+  orb.startCalibration();
+
+  setTimeout(function() {
+    orb.finishCalibration();
+    orb.streamAccelerometer();
+    setInterval(function() {
+      orb.roll(255, 0);
+    }, 500);
+    orb.on("accelerometer", function(data) {
+      console.log("data:");
+      console.log("  xAccel:", data.xAccel);
+      console.log("  yAccel:", data.yAccel);
+      console.log("  zAccel:", data.zAccel);
+    });
+  }, 5000);
+});
diff --git a/ziguzagu.js b/ziguzagu.js
index ea9cf81..909d4b6 100644
--- a/ziguzagu.js
+++ b/ziguzagu.js
@@ -1,4 +1,5 @@
 var backside = require("./backside");
+var keypress = require("keypress");
 
 // 自分の Sphero の ID に置き換える
 var port = "/dev/tty.Sphero-YRW-AMP-SPP";
@@ -10,20 +11,31 @@ var angles = [
 ];
 var currentAnglePoint = 0;
 
+var graph = [];
+
 // 接続された時に呼び出されます。
 function connect() {
   orb.color(orbDefaultColor);
   setTimeout(loop, loopInterval);
   // ここに処理を書きます
-  backside.move(255,angles[currentAnglePoint%5], orb);
-  currentAnglePoint++;
+  backside.move(255,angles[Math.max(currentAnglePoint++, angles.length)], orb);
+
+  orb.streamAccelerometer();
+
+  orb.on("accelerometer", function(data) {
+    if (Math.abs(data.xAccel.value[0]) < 1000) {
+      console.log("止まっている");
+    } else {
+      console.log("動いている");
+    }
+  });
   // ここまで
 }
 
 // メインとなるループ処理（上のloopIntervalの間隔で呼び出されます）
 function loop() {
   // ここに処理を書きます
-  
+
   // ここまで
   setTimeout(loop, loopInterval);
 }
@@ -35,8 +47,7 @@ function collision() {
   setTimeout(function() {
     orb.color("green");
   }, 500);
-  backside.move(255,angles[currentAnglePoint%5], orb);
-  currentAnglePoint++;
+  backside.move(255,angles[Math.max(currentAnglePoint++, angles.length)], orb);
   // ここまで
 }