diff --git a/build/bin/mainV8.exe b/build/bin/mainV8.exe
index ccc34b0..205f373 100644
Binary files a/build/bin/mainV8.exe and b/build/bin/mainV8.exe differ
diff --git a/src/collections/headers/gamba.hpp b/src/collections/headers/gamba.hpp
index 330fb2b..2e7d2ad 100644
--- a/src/collections/headers/gamba.hpp
+++ b/src/collections/headers/gamba.hpp
@@ -6,7 +6,7 @@
 
 class Gamba : public CollectionInterface {
     protected:
-        std::vector<PieceInterface*> sensori;
+        std::vector<Sensore*> sensori;
         std::vector<PieceInterface*> pezzi;
         std::vector<JointInterface*> joints;
     public:
@@ -15,6 +15,7 @@ class Gamba : public CollectionInterface {
         PieceInterface* getJointPiece();
         void setDirection(Direction dir);
         bool setTransparency(float alpha) override;
+        float getZ_Acc();
 };
 
 #endif
\ No newline at end of file
diff --git a/src/collections/methods/gamba.cpp b/src/collections/methods/gamba.cpp
index 941f717..f81dad0 100644
--- a/src/collections/methods/gamba.cpp
+++ b/src/collections/methods/gamba.cpp
@@ -66,4 +66,14 @@ bool Gamba::setTransparency(float alpha){
         if (!i->setTransparency(alpha)) return false;
     }
     return true;
+}
+
+float Gamba::getZ_Acc(){
+    
+    float totZ_Acc = 0;
+    for (auto i : sensori){
+        totZ_Acc += i->getZ_Acc();
+    }
+    
+    return totZ_Acc;
 }
\ No newline at end of file
diff --git a/src/pieces/methods/sensore_class.cpp b/src/pieces/methods/sensore_class.cpp
index 481d684..e776d6a 100644
--- a/src/pieces/methods/sensore_class.cpp
+++ b/src/pieces/methods/sensore_class.cpp
@@ -40,7 +40,8 @@ void Sensore::initCSV(std::vector<std::vector<float>> data){
 
     //trovo il modulo di g facendo la media del modulo nei primi 1000 campioni
     gModule = 0;
-    for(int i = 0; i< data.size()>1000 ? 1000 : 10; i++){
+    int nCampioni = int(data.size())>1000 ? 1000 : 10;
+    for(int i = 0; i<nCampioni ;i++) {
         gModule +=  sqrt(pow(gData[i][0],2)+pow(gData[i][1],2)+pow(gData[i][2],2));
     }
     gModule = gModule / 1000;