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Refactorates data collection process

Arthur Assis requested to merge fixing_nan into development

this MR changes almost all of the data collection process by simplifying it, modularizing it and fixing some bugs(and probably adding new ones too)

THIS MR MUST BE ACCEPTED TOGETHER WITH ITS MASTER'S COUNTERPART

fix #51 (closed) #25 (closed)

Edited by Arthur Assis

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