diff --git a/README.md b/README.md
index ea7193b..07e6129 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-This project contains sample code for making a arduino robot recognize dots in front of it using OpenCV, send its results to MyRobots.com and also control the robot using another Android using either voice or gesutres to tell teh robot to turn or do other things.
+This project contains sample code for making a arduino robot recognize dots in front of it using OpenCV, send its results to MyRobots.com and also control the robot using another Android using either voice or gestures to tell the robot to turn or do other things.
 
 The Tutorial folder breaks it down into manageble chunks:
 * https://github.com/AndroidMontreal/UpAndRunningWithAndroid/tree/master/Tutorial
diff --git a/Tutorial/src/com/androidmontreal/gesturevoicecommander/practice/MakeItUnderstandGestures.java b/Tutorial/src/com/androidmontreal/gesturevoicecommander/practice/MakeItUnderstandGestures.java
index 0e99f53..54d8bf8 100644
--- a/Tutorial/src/com/androidmontreal/gesturevoicecommander/practice/MakeItUnderstandGestures.java
+++ b/Tutorial/src/com/androidmontreal/gesturevoicecommander/practice/MakeItUnderstandGestures.java
@@ -1,5 +1,10 @@
 package com.androidmontreal.gesturevoicecommander.practice;
 
+import java.io.File;
+import java.io.FileOutputStream;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
 import java.util.ArrayList;
 import java.util.Locale;
 
@@ -9,9 +14,10 @@
 import android.gesture.GestureLibraries;
 import android.gesture.GestureLibrary;
 import android.gesture.GestureOverlayView;
-import android.gesture.Prediction;
 import android.gesture.GestureOverlayView.OnGesturePerformedListener;
+import android.gesture.Prediction;
 import android.os.Bundle;
+import android.os.Environment;
 import android.speech.RecognizerIntent;
 import android.speech.tts.TextToSpeech;
 import android.speech.tts.TextToSpeech.OnInitListener;
@@ -35,147 +41,203 @@
  * 
  */
 public class MakeItUnderstandGestures extends Activity implements
-    OnInitListener, OnGesturePerformedListener {
-  private static final String TAG = "MakeItUnderstandGestures";
-  private static final int RETURN_FROM_VOICE_RECOGNITION_REQUEST_CODE = 341;
-  private static final boolean D = true;
-
-  /** Talk to the user */
-  private TextToSpeech mTts;
-
-  /*
-   * A gesture library we created with the GestureBuilder, saved on the SDCard
-   * and then imported into the res/raw folder of this project
-   */
-  private GestureLibrary gestureLib;
-
-  /* A little lexicon we made for the DFR Rover at Cloud Robotics Hackathon */
-  private RoverLexicon lexicon;
-
-  @Override
-  protected void onCreate(Bundle savedInstanceState) {
-    super.onCreate(savedInstanceState);
-
-    mTts = new TextToSpeech(this, this);
-
-    GestureOverlayView gestureOverlayView = new GestureOverlayView(this);
-    View inflate = getLayoutInflater().inflate(R.layout.commander, null);
-    gestureOverlayView.addView(inflate);
-    gestureOverlayView.addOnGesturePerformedListener(this);
-    // gestureLib = GestureLibraries.fromFile(fileOnYourSDCard);
-    gestureLib = GestureLibraries.fromRawResource(this, R.raw.gestures);
-    if (!gestureLib.load()) {
-      finish();
-    }
-    setContentView(gestureOverlayView);
-
-    lexicon = new RoverLexicon();
-
-  }
-
-  protected void promptTheUserToTalk() {
-    mTts.speak(getString(R.string.im_listening), TextToSpeech.QUEUE_ADD, null);
-  }
-
-  /**
-   * Fire an intent to start the voice recognition activity.
-   */
-  private void startVoiceRecognitionActivity() {
-    Intent intent = new Intent(RecognizerIntent.ACTION_RECOGNIZE_SPEECH);
-    intent.putExtra(RecognizerIntent.EXTRA_LANGUAGE_MODEL,
-        RecognizerIntent.LANGUAGE_MODEL_FREE_FORM);
-    intent.putExtra(RecognizerIntent.EXTRA_PROMPT,
-        getString(R.string.im_listening));
-    startActivityForResult(intent, RETURN_FROM_VOICE_RECOGNITION_REQUEST_CODE);
-  }
-
-  /**
-   * Handle the results from the voice recognition activity.
-   */
-  @Override
-  protected void onActivityResult(int requestCode, int resultCode, Intent data) {
-    if (requestCode == RETURN_FROM_VOICE_RECOGNITION_REQUEST_CODE
-        && resultCode == RESULT_OK) {
-      ArrayList<String> matches = data
-          .getStringArrayListExtra(RecognizerIntent.EXTRA_RESULTS);
-      /* try to find a robot command in the first match */
-      if (matches.size() > 0) {
-        sendRobotThisCommand(matches.get(0));
-      }
-    }
-    super.onActivityResult(requestCode, resultCode, data);
-  }
-
-  @Override
-  protected void onDestroy() {
-    if (mTts != null) {
-      mTts.stop();
-      mTts.shutdown();
-    }
-    super.onDestroy();
-  }
-
-  @Override
-  public void onInit(int status) {
-    if (status == TextToSpeech.SUCCESS) {
-      int result = mTts.setLanguage(Locale.getDefault());
-      if (result == TextToSpeech.LANG_MISSING_DATA
-          || result == TextToSpeech.LANG_NOT_SUPPORTED) {
-        Log.e(TAG, "Language is not available.");
-        Toast.makeText(
-            this,
-            "The " + Locale.getDefault().getDisplayLanguage()
-                + " TextToSpeech isn't installed, you can go into the "
-                + "\nAndroid's settings in the "
-                + "\nVoice Input and Output menu to turn it on. ",
-            Toast.LENGTH_LONG).show();
-      } else {
-        // everything is working.
-      }
-    } else {
-      Toast.makeText(
-          this,
-          "Sorry, I can't talk to you because "
-              + "I could not initialize TextToSpeech.", Toast.LENGTH_LONG)
-          .show();
-    }
-  }
-
-  @Override
-  public void onGesturePerformed(GestureOverlayView overlay, Gesture gesture) {
-    ArrayList<Prediction> predictions = gestureLib.recognize(gesture);
-    for (Prediction prediction : predictions) {
-      if (prediction.score > 3.0) {
-        Log.d(TAG, "Detected this gesture " + prediction.name
-            + " with a score of " + prediction.score);
-      }
-    }
-    if (predictions.size() > 0) {
-      sendRobotThisCommand(predictions.get(0).name);
-    }
-  }
-
-  public String sendRobotThisCommand(String command) {
-    String guessedCommand = lexicon.guessWhatToDo(command);
-    Toast.makeText(this, guessedCommand, Toast.LENGTH_SHORT).show();
-
-    if (Locale.getDefault().getLanguage().contains("fr")) {
-      mTts.speak(lexicon.FR_CARRIER_PHRASE + guessedCommand,
-          TextToSpeech.QUEUE_ADD, null);
-    } else {
-      mTts.speak(lexicon.EN_CARRIER_PHRASE + guessedCommand,
-          TextToSpeech.QUEUE_ADD, null);
-    }
-    return lexicon.executeGuess();
-  }
-
-  public void onCommandByVoiceClick(View v) {
-    promptTheUserToTalk();
-    startVoiceRecognitionActivity();
-  }
-
-  public void onViewGesturesClick(View v) {
-    Intent i = new Intent(this, GestureBuilderActivity.class);
-    startActivity(i);
-  }
+OnInitListener, OnGesturePerformedListener {
+
+	//Constants used in mTestPath.
+	public static final String CONFIGURATION_FILENAME = "my.config"; 
+	public static final String LOG_TAG = "MyApplication-";
+
+
+	private static final String TAG = "MakeItUnderstandGestures";
+	private static final int RETURN_FROM_VOICE_RECOGNITION_REQUEST_CODE = 341;
+	private static final boolean D = true;
+
+	/** Talk to the user */
+	private TextToSpeech mTts;
+
+	/*
+	 * A gesture library we created with the GestureBuilder, saved on the SDCard
+	 * and then imported into the res/raw folder of this project
+	 */
+	private GestureLibrary gestureLib;
+
+	/* A little lexicon we made for the DFR Rover at Cloud Robotics Hackathon */
+	private RoverLexicon lexicon;
+
+	@Override
+	protected void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);
+
+		mTts = new TextToSpeech(this, this);
+
+		GestureOverlayView gestureOverlayView = new GestureOverlayView(this);
+		View inflate = getLayoutInflater().inflate(R.layout.commander, null);
+		gestureOverlayView.addView(inflate);
+		gestureOverlayView.addOnGesturePerformedListener(this);
+
+		// Raw file in the app, text file in the SD card folder		
+		String rawGestureFilePath = Environment.getExternalStorageDirectory().getAbsoluteFile().getAbsolutePath(); 
+
+		String txtFileName = "gestures.txt";
+		String fileOnYourSDCard = rawGestureFilePath.concat("/").concat(txtFileName); //"/storage/sdcard0/gestures.txt";
+
+		// Copy the raw file to the phone
+		copyRawGesturesToSDCard(fileOnYourSDCard);
+
+		// Now from the destination file
+		gestureLib = GestureLibraries.fromFile(fileOnYourSDCard);
+		// gestureLib = GestureLibraries.fromRawResource(this, R.raw.gestures);
+		if (!gestureLib.load()) {
+			finish();
+		}
+		setContentView(gestureOverlayView);
+
+		lexicon = new RoverLexicon();
+
+	}
+
+	protected void promptTheUserToTalk() {
+		mTts.speak(getString(R.string.im_listening), TextToSpeech.QUEUE_ADD, null);
+	}
+
+	/**
+	 * Fire an intent to start the voice recognition activity.
+	 */
+	private void startVoiceRecognitionActivity() {
+		Intent intent = new Intent(RecognizerIntent.ACTION_RECOGNIZE_SPEECH);
+		intent.putExtra(RecognizerIntent.EXTRA_LANGUAGE_MODEL,
+				RecognizerIntent.LANGUAGE_MODEL_FREE_FORM);
+		intent.putExtra(RecognizerIntent.EXTRA_PROMPT,
+				getString(R.string.im_listening));
+		startActivityForResult(intent, RETURN_FROM_VOICE_RECOGNITION_REQUEST_CODE);
+	}
+
+	/**
+	 * Handle the results from the voice recognition activity.
+	 */
+	@Override
+	protected void onActivityResult(int requestCode, int resultCode, Intent data) {
+		if (requestCode == RETURN_FROM_VOICE_RECOGNITION_REQUEST_CODE
+				&& resultCode == RESULT_OK) {
+			ArrayList<String> matches = data
+					.getStringArrayListExtra(RecognizerIntent.EXTRA_RESULTS);
+			/* try to find a robot command in the first match */
+			if (matches.size() > 0) {
+				sendRobotThisCommand(matches.get(0));
+			}
+		}
+		super.onActivityResult(requestCode, resultCode, data);
+	}
+
+	@Override
+	protected void onDestroy() {
+		if (mTts != null) {
+			mTts.stop();
+			mTts.shutdown();
+		}
+		super.onDestroy();
+	}
+
+	@Override
+	public void onInit(int status) {
+		if (status == TextToSpeech.SUCCESS) {
+			int result = mTts.setLanguage(Locale.getDefault());
+			if (result == TextToSpeech.LANG_MISSING_DATA
+					|| result == TextToSpeech.LANG_NOT_SUPPORTED) {
+				Log.e(TAG, "Language is not available.");
+				Toast.makeText(
+						this,
+						"The " + Locale.getDefault().getDisplayLanguage()
+						+ " TextToSpeech isn't installed, you can go into the "
+						+ "\nAndroid's settings in the "
+						+ "\nVoice Input and Output menu to turn it on. ",
+						Toast.LENGTH_LONG).show();
+			} else {
+				// everything is working.
+			}
+		} else {
+			Toast.makeText(
+					this,
+					"Sorry, I can't talk to you because "
+							+ "I could not initialize TextToSpeech.", Toast.LENGTH_LONG)
+							.show();
+		}
+	}
+
+	@Override
+	public void onGesturePerformed(GestureOverlayView overlay, Gesture gesture) {
+		ArrayList<Prediction> predictions = gestureLib.recognize(gesture);
+		for (Prediction prediction : predictions) {
+			if (prediction.score > 3.0) {
+				Log.d(TAG, "Detected this gesture " + prediction.name
+						+ " with a score of " + prediction.score);
+			}
+		}
+		if (predictions.size() > 0) {
+			sendRobotThisCommand(predictions.get(0).name);
+		}
+	}
+
+	public String sendRobotThisCommand(String command) {
+		String guessedCommand = lexicon.guessWhatToDo(command);
+		Toast.makeText(this, guessedCommand, Toast.LENGTH_SHORT).show();
+
+		if (Locale.getDefault().getLanguage().contains("fr")) {
+			mTts.speak(lexicon.FR_CARRIER_PHRASE + guessedCommand,
+					TextToSpeech.QUEUE_ADD, null);
+		} else {
+			mTts.speak(lexicon.EN_CARRIER_PHRASE + guessedCommand,
+					TextToSpeech.QUEUE_ADD, null);
+		}
+		return lexicon.executeGuess();
+	}
+
+	public void onCommandByVoiceClick(View v) {
+		promptTheUserToTalk();
+		startVoiceRecognitionActivity();
+	}
+
+	public void onViewGesturesClick(View v) {
+		Intent i = new Intent(this, GestureBuilderActivity.class);
+		startActivity(i);
+	}
+
+	/**
+	 * Copy the raw gestures file of the app to the SD card.
+	 * @param fileOnYourSDCard a String containing the path to the destination file.
+	 */
+	public void copyRawGesturesToSDCard(String fileOnYourSDCard){
+
+		InputStream inStream = null;
+
+		File sdCardFile = null;
+		OutputStream outStream = null;
+
+		try{
+
+			inStream = getApplicationContext().getResources().openRawResource(R.raw.gestures);
+
+			sdCardFile = new File(fileOnYourSDCard);
+			outStream = new FileOutputStream(sdCardFile);
+
+			byte[] buffer = new byte[1024];
+			int length;
+			//copy the file content in bytes 
+			while ((length = inStream.read(buffer)) > 0){
+				outStream.write(buffer, 0, length);
+			}
+
+			inStream.close();
+			outStream.close();
+
+			System.out.println("The file was successfully copied!");
+
+		}catch(IOException e){
+			e.printStackTrace();
+		}
+
+	}
+
+
+
 }