diff --git a/Firmware/carteHRI.uvoptx b/Firmware/carteHRI.uvoptx
index 2dda120..cc6d1ed 100644
--- a/Firmware/carteHRI.uvoptx
+++ b/Firmware/carteHRI.uvoptx
@@ -1,788 +1,801 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no" ?>
 <ProjectOpt xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_optx.xsd">
 
   <SchemaVersion>1.0</SchemaVersion>
 
   <Header>### uVision Project, (C) Keil Software</Header>
 
   <Extensions>
     <cExt>*.c</cExt>
     <aExt>*.s*; *.src; *.a*</aExt>
     <oExt>*.obj</oExt>
     <lExt>*.lib</lExt>
     <tExt>*.txt; *.h; *.inc</tExt>
     <pExt>*.plm</pExt>
     <CppX>*.cpp</CppX>
     <nMigrate>0</nMigrate>
   </Extensions>
 
   <DaveTm>
     <dwLowDateTime>0</dwLowDateTime>
     <dwHighDateTime>0</dwHighDateTime>
   </DaveTm>
 
   <Target>
     <TargetName>Target 1</TargetName>
     <ToolsetNumber>0x4</ToolsetNumber>
     <ToolsetName>ARM-ADS</ToolsetName>
     <TargetOption>
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         <HexRangeHighAddress>0</HexRangeHighAddress>
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       <OPTLEX>
         <PageWidth>79</PageWidth>
         <PageLength>66</PageLength>
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         <CreateLListing>1</CreateLListing>
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           <Title>User Manual (MCBSTM32F400)</Title>
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         <Book>
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         <Book>
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           <Title>Getting Started (STM32F4-Discovery)</Title>
           <Path>C:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.5.0\MDK\Boards\ST\STM32F4-Discovery\Documentation\DM00037368.pdf</Path>
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         <Book>
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           <Title>User Manual (STM32F4-Discovery)</Title>
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         <Book>
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           <Title>Bill of Materials (STM32F4-Discovery)</Title>
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         <Book>
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         <Book>
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           <Title>MCBSTM32F400 Evaluation Board Web Page (MCBSTM32F400)</Title>
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         <Book>
           <Number>8</Number>
           <Title>STM32F4-Discovery Web Page (STM32F4-Discovery)</Title>
           <Path>http://www.st.com/web/catalog/tools/FM116/SC959/SS1532/LN1199/PF252419</Path>
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       <Breakpoint/>
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           <WinNumber>1</WinNumber>
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           <count>4</count>
           <WinNumber>1</WinNumber>
           <ItemText>ctrl_timestamp</ItemText>
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       <WatchWindow2>
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       <Tracepoint>
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         <newCpu>0</newCpu>
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       <LintExecutable></LintExecutable>
       <LintConfigFile></LintConfigFile>
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   <Group>
     <GroupName>SRC_drivers</GroupName>
     <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
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       <FileNumber>17</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
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       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drivers\adc.c</PathWithFileName>
       <FilenameWithoutPath>adc.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
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     <File>
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       <tvExp>0</tvExp>
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       <PathWithFileName>.\src\drivers\callback_timers.c</PathWithFileName>
       <FilenameWithoutPath>callback_timers.c</FilenameWithoutPath>
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       <tvExp>0</tvExp>
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       <PathWithFileName>.\src\drivers\dac.c</PathWithFileName>
       <FilenameWithoutPath>dac.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
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     <File>
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       <FileNumber>20</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drivers\h_bridge.c</PathWithFileName>
       <FilenameWithoutPath>h_bridge.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
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     <File>
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       <PathWithFileName>.\src\drivers\incr_encoder.c</PathWithFileName>
       <FilenameWithoutPath>incr_encoder.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drivers\uart.c</PathWithFileName>
       <FilenameWithoutPath>uart.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
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     <File>
       <GroupNumber>4</GroupNumber>
       <FileNumber>23</FileNumber>
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       <tvExp>0</tvExp>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drivers\hall.c</PathWithFileName>
       <FilenameWithoutPath>hall.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
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       <PathWithFileName>.\src\drivers\strain_gauge.c</PathWithFileName>
       <FilenameWithoutPath>strain_gauge.c</FilenameWithoutPath>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drivers\tachometer.c</PathWithFileName>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drivers\led.c</PathWithFileName>
       <FilenameWithoutPath>led.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
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     <File>
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       <tvExp>0</tvExp>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drivers\debug_gpio.c</PathWithFileName>
       <FilenameWithoutPath>debug_gpio.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>4</GroupNumber>
+      <FileNumber>28</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <Focus>0</Focus>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>.\src\drivers\button.c</PathWithFileName>
+      <FilenameWithoutPath>button.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>
     <GroupName>SRC_lib</GroupName>
     <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
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       <GroupNumber>5</GroupNumber>
-      <FileNumber>28</FileNumber>
+      <FileNumber>29</FileNumber>
       <FileType>1</FileType>
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       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\lib\basic_filter.c</PathWithFileName>
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     <File>
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       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\lib\pid.c</PathWithFileName>
       <FilenameWithoutPath>pid.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
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     <File>
       <GroupNumber>5</GroupNumber>
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+      <FileNumber>31</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
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       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\lib\utils.c</PathWithFileName>
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     <File>
       <GroupNumber>5</GroupNumber>
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       <FileType>1</FileType>
       <tvExp>0</tvExp>
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       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\lib\circular_buffer.c</PathWithFileName>
       <FilenameWithoutPath>circular_buffer.c</FilenameWithoutPath>
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       <bShared>0</bShared>
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   </Group>
 
 </ProjectOpt>
diff --git a/Firmware/carteHRI.uvprojx b/Firmware/carteHRI.uvprojx
index de48bfb..4684c8a 100644
--- a/Firmware/carteHRI.uvprojx
+++ b/Firmware/carteHRI.uvprojx
@@ -1,596 +1,601 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no" ?>
 <Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_projx.xsd">
 
   <SchemaVersion>2.1</SchemaVersion>
 
   <Header>### uVision Project, (C) Keil Software</Header>
 
   <Targets>
     <Target>
       <TargetName>Target 1</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
       <TargetOption>
         <TargetCommonOption>
           <Device>STM32F407VG</Device>
           <Vendor>STMicroelectronics</Vendor>
           <PackID>Keil.STM32F4xx_DFP.2.5.0</PackID>
           <PackURL>http://www.keil.com/pack</PackURL>
           <Cpu>IROM(0x08000000,0x100000) IRAM(0x20000000,0x20000) IRAM2(0x10000000,0x10000) CPUTYPE("Cortex-M4") FPU2 CLOCK(168000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile></StartupFile>
           <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407VG$Flash\STM32F4xx_1024.FLM))</FlashDriverDll>
           <DeviceId>6103</DeviceId>
           <RegisterFile>$$Device:STM32F407VG$Device\Include\stm32f4xx.h</RegisterFile>
           <MemoryEnv></MemoryEnv>
           <Cmp></Cmp>
           <Asm></Asm>
           <Linker></Linker>
           <OHString></OHString>
           <InfinionOptionDll></InfinionOptionDll>
           <SLE66CMisc></SLE66CMisc>
           <SLE66AMisc></SLE66AMisc>
           <SLE66LinkerMisc></SLE66LinkerMisc>
           <SFDFile>$$Device:STM32F407VG$SVD\STM32F40x.svd</SFDFile>
           <bCustSvd>0</bCustSvd>
           <UseEnv>0</UseEnv>
           <BinPath></BinPath>
           <IncludePath></IncludePath>
           <LibPath></LibPath>
           <RegisterFilePath></RegisterFilePath>
           <DBRegisterFilePath></DBRegisterFilePath>
           <TargetStatus>
             <Error>0</Error>
             <ExitCodeStop>0</ExitCodeStop>
             <ButtonStop>0</ButtonStop>
             <NotGenerated>0</NotGenerated>
             <InvalidFlash>1</InvalidFlash>
           </TargetStatus>
           <OutputDirectory>.\output\</OutputDirectory>
           <OutputName>motorControl</OutputName>
           <CreateExecutable>1</CreateExecutable>
           <CreateLib>0</CreateLib>
           <CreateHexFile>1</CreateHexFile>
           <DebugInformation>1</DebugInformation>
           <BrowseInformation>1</BrowseInformation>
           <ListingPath>.\lst\</ListingPath>
           <HexFormatSelection>1</HexFormatSelection>
           <Merge32K>0</Merge32K>
           <CreateBatchFile>0</CreateBatchFile>
           <BeforeCompile>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>0</RunUserProg2>
             <UserProg1Name></UserProg1Name>
             <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopU1X>0</nStopU1X>
             <nStopU2X>0</nStopU2X>
           </BeforeCompile>
           <BeforeMake>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>0</RunUserProg2>
             <UserProg1Name></UserProg1Name>
             <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopB1X>0</nStopB1X>
             <nStopB2X>0</nStopB2X>
           </BeforeMake>
           <AfterMake>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>0</RunUserProg2>
             <UserProg1Name></UserProg1Name>
             <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
           <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
           <UseCPPCompiler>0</UseCPPCompiler>
           <RVCTCodeConst>0</RVCTCodeConst>
           <RVCTZI>0</RVCTZI>
           <RVCTOtherData>0</RVCTOtherData>
           <ModuleSelection>0</ModuleSelection>
           <IncludeInBuild>1</IncludeInBuild>
           <AlwaysBuild>0</AlwaysBuild>
           <GenerateAssemblyFile>0</GenerateAssemblyFile>
           <AssembleAssemblyFile>0</AssembleAssemblyFile>
           <PublicsOnly>0</PublicsOnly>
           <StopOnExitCode>3</StopOnExitCode>
           <CustomArgument></CustomArgument>
           <IncludeLibraryModules></IncludeLibraryModules>
           <ComprImg>1</ComprImg>
         </CommonProperty>
         <DllOption>
           <SimDllName>SARMCM3.DLL</SimDllName>
           <SimDllArguments>-REMAP -MPU</SimDllArguments>
           <SimDlgDll>DCM.DLL</SimDlgDll>
           <SimDlgDllArguments>-pCM4</SimDlgDllArguments>
           <TargetDllName>SARMCM3.DLL</TargetDllName>
           <TargetDllArguments>-REMAP -MPU</TargetDllArguments>
           <TargetDlgDll>TCM.DLL</TargetDlgDll>
           <TargetDlgDllArguments>-pCM4</TargetDlgDllArguments>
         </DllOption>
         <DebugOption>
           <OPTHX>
             <HexSelection>1</HexSelection>
             <HexRangeLowAddress>0</HexRangeLowAddress>
             <HexRangeHighAddress>0</HexRangeHighAddress>
             <HexOffset>0</HexOffset>
             <Oh166RecLen>16</Oh166RecLen>
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           <Simulator>
             <UseSimulator>0</UseSimulator>
             <LoadApplicationAtStartup>1</LoadApplicationAtStartup>
             <RunToMain>1</RunToMain>
             <RestoreBreakpoints>1</RestoreBreakpoints>
             <RestoreWatchpoints>1</RestoreWatchpoints>
             <RestoreMemoryDisplay>1</RestoreMemoryDisplay>
             <RestoreFunctions>1</RestoreFunctions>
             <RestoreToolbox>1</RestoreToolbox>
             <LimitSpeedToRealTime>0</LimitSpeedToRealTime>
             <RestoreSysVw>1</RestoreSysVw>
           </Simulator>
           <Target>
             <UseTarget>1</UseTarget>
             <LoadApplicationAtStartup>1</LoadApplicationAtStartup>
             <RunToMain>0</RunToMain>
             <RestoreBreakpoints>1</RestoreBreakpoints>
             <RestoreWatchpoints>1</RestoreWatchpoints>
             <RestoreMemoryDisplay>1</RestoreMemoryDisplay>
             <RestoreFunctions>0</RestoreFunctions>
             <RestoreToolbox>1</RestoreToolbox>
             <RestoreTracepoints>1</RestoreTracepoints>
             <RestoreSysVw>1</RestoreSysVw>
           </Target>
           <RunDebugAfterBuild>0</RunDebugAfterBuild>
           <TargetSelection>11</TargetSelection>
           <SimDlls>
             <CpuDll></CpuDll>
             <CpuDllArguments></CpuDllArguments>
             <PeripheralDll></PeripheralDll>
             <PeripheralDllArguments></PeripheralDllArguments>
             <InitializationFile></InitializationFile>
           </SimDlls>
           <TargetDlls>
             <CpuDll></CpuDll>
             <CpuDllArguments></CpuDllArguments>
             <PeripheralDll></PeripheralDll>
             <PeripheralDllArguments></PeripheralDllArguments>
             <InitializationFile></InitializationFile>
             <Driver>STLink\ST-LINKIII-KEIL_SWO.dll</Driver>
           </TargetDlls>
         </DebugOption>
         <Utilities>
           <Flash1>
             <UseTargetDll>1</UseTargetDll>
             <UseExternalTool>0</UseExternalTool>
             <RunIndependent>0</RunIndependent>
             <UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
             <Capability>1</Capability>
             <DriverSelection>4096</DriverSelection>
           </Flash1>
           <bUseTDR>1</bUseTDR>
           <Flash2>BIN\UL2CM3.DLL</Flash2>
           <Flash3>"" ()</Flash3>
           <Flash4></Flash4>
           <pFcarmOut></pFcarmOut>
           <pFcarmGrp></pFcarmGrp>
           <pFcArmRoot></pFcArmRoot>
           <FcArmLst>0</FcArmLst>
         </Utilities>
         <TargetArmAds>
           <ArmAdsMisc>
             <GenerateListings>0</GenerateListings>
             <asHll>1</asHll>
             <asAsm>1</asAsm>
             <asMacX>1</asMacX>
             <asSyms>1</asSyms>
             <asFals>1</asFals>
             <asDbgD>1</asDbgD>
             <asForm>1</asForm>
             <ldLst>0</ldLst>
             <ldmm>1</ldmm>
             <ldXref>1</ldXref>
             <BigEnd>0</BigEnd>
             <AdsALst>1</AdsALst>
             <AdsACrf>1</AdsACrf>
             <AdsANop>0</AdsANop>
             <AdsANot>0</AdsANot>
             <AdsLLst>1</AdsLLst>
             <AdsLmap>1</AdsLmap>
             <AdsLcgr>1</AdsLcgr>
             <AdsLsym>1</AdsLsym>
             <AdsLszi>1</AdsLszi>
             <AdsLtoi>1</AdsLtoi>
             <AdsLsun>1</AdsLsun>
             <AdsLven>1</AdsLven>
             <AdsLsxf>1</AdsLsxf>
             <RvctClst>0</RvctClst>
             <GenPPlst>0</GenPPlst>
             <AdsCpuType>"Cortex-M4"</AdsCpuType>
             <RvctDeviceName></RvctDeviceName>
             <mOS>0</mOS>
             <uocRom>0</uocRom>
             <uocRam>0</uocRam>
             <hadIROM>1</hadIROM>
             <hadIRAM>1</hadIRAM>
             <hadXRAM>0</hadXRAM>
             <uocXRam>0</uocXRam>
             <RvdsVP>2</RvdsVP>
             <hadIRAM2>1</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
             <useUlib>0</useUlib>
             <EndSel>0</EndSel>
             <uLtcg>0</uLtcg>
             <RoSelD>3</RoSelD>
             <RwSelD>3</RwSelD>
             <CodeSel>0</CodeSel>
             <OptFeed>0</OptFeed>
             <NoZi1>0</NoZi1>
             <NoZi2>0</NoZi2>
             <NoZi3>0</NoZi3>
             <NoZi4>0</NoZi4>
             <NoZi5>0</NoZi5>
             <Ro1Chk>0</Ro1Chk>
             <Ro2Chk>0</Ro2Chk>
             <Ro3Chk>0</Ro3Chk>
             <Ir1Chk>1</Ir1Chk>
             <Ir2Chk>0</Ir2Chk>
             <Ra1Chk>0</Ra1Chk>
             <Ra2Chk>0</Ra2Chk>
             <Ra3Chk>0</Ra3Chk>
             <Im1Chk>1</Im1Chk>
             <Im2Chk>0</Im2Chk>
             <OnChipMemories>
               <Ocm1>
                 <Type>0</Type>
                 <StartAddress>0x0</StartAddress>
                 <Size>0x0</Size>
               </Ocm1>
               <Ocm2>
                 <Type>0</Type>
                 <StartAddress>0x0</StartAddress>
                 <Size>0x0</Size>
               </Ocm2>
               <Ocm3>
                 <Type>0</Type>
                 <StartAddress>0x0</StartAddress>
                 <Size>0x0</Size>
               </Ocm3>
               <Ocm4>
                 <Type>0</Type>
                 <StartAddress>0x0</StartAddress>
                 <Size>0x0</Size>
               </Ocm4>
               <Ocm5>
                 <Type>0</Type>
                 <StartAddress>0x0</StartAddress>
                 <Size>0x0</Size>
               </Ocm5>
               <Ocm6>
                 <Type>0</Type>
                 <StartAddress>0x0</StartAddress>
                 <Size>0x0</Size>
               </Ocm6>
               <IRAM>
                 <Type>0</Type>
                 <StartAddress>0x20000000</StartAddress>
                 <Size>0x20000</Size>
               </IRAM>
               <IROM>
                 <Type>1</Type>
                 <StartAddress>0x8000000</StartAddress>
                 <Size>0x100000</Size>
               </IROM>
               <XRAM>
                 <Type>0</Type>
                 <StartAddress>0x0</StartAddress>
                 <Size>0x0</Size>
               </XRAM>
               <OCR_RVCT1>
                 <Type>1</Type>
                 <StartAddress>0x0</StartAddress>
                 <Size>0x0</Size>
               </OCR_RVCT1>
               <OCR_RVCT2>
                 <Type>1</Type>
                 <StartAddress>0x0</StartAddress>
                 <Size>0x0</Size>
               </OCR_RVCT2>
               <OCR_RVCT3>
                 <Type>1</Type>
                 <StartAddress>0x0</StartAddress>
                 <Size>0x0</Size>
               </OCR_RVCT3>
               <OCR_RVCT4>
                 <Type>1</Type>
                 <StartAddress>0x8000000</StartAddress>
                 <Size>0x100000</Size>
               </OCR_RVCT4>
               <OCR_RVCT5>
                 <Type>1</Type>
                 <StartAddress>0x0</StartAddress>
                 <Size>0x0</Size>
               </OCR_RVCT5>
               <OCR_RVCT6>
                 <Type>0</Type>
                 <StartAddress>0x0</StartAddress>
                 <Size>0x0</Size>
               </OCR_RVCT6>
               <OCR_RVCT7>
                 <Type>0</Type>
                 <StartAddress>0x0</StartAddress>
                 <Size>0x0</Size>
               </OCR_RVCT7>
               <OCR_RVCT8>
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               </OCR_RVCT8>
               <OCR_RVCT9>
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                 <StartAddress>0x20000000</StartAddress>
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               <OCR_RVCT10>
                 <Type>0</Type>
                 <StartAddress>0x10000000</StartAddress>
                 <Size>0x10000</Size>
               </OCR_RVCT10>
             </OnChipMemories>
             <RvctStartVector></RvctStartVector>
           </ArmAdsMisc>
           <Cads>
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             <oTime>1</oTime>
             <SplitLS>0</SplitLS>
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             <Strict>0</Strict>
             <EnumInt>0</EnumInt>
             <PlainCh>0</PlainCh>
             <Ropi>0</Ropi>
             <Rwpi>0</Rwpi>
             <wLevel>0</wLevel>
             <uThumb>0</uThumb>
             <uSurpInc>0</uSurpInc>
             <uC99>0</uC99>
             <useXO>0</useXO>
             <v6Lang>0</v6Lang>
             <v6LangP>0</v6LangP>
             <VariousControls>
               <MiscControls></MiscControls>
               <Define>USE_STDPERIPH_DRIVER STM32F4XX ARM_MATH_CM4</Define>
               <Undefine></Undefine>
               <IncludePath>..\CodeUC;.\inc;.\src;C:\STM32F4-Discovery_FW_V1.1.0\Libraries\CMSIS\ST\STM32F4xx\Include;C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\inc;C:\STM32F4-Discovery_FW_V1.1.0\Utilities\STM32F4-Discovery;C:\STM32F4-Discovery_FW_V1.1.0\Libraries\CMSIS\Include</IncludePath>
             </VariousControls>
           </Cads>
           <Aads>
             <interw>1</interw>
             <Ropi>0</Ropi>
             <Rwpi>0</Rwpi>
             <thumb>0</thumb>
             <SplitLS>0</SplitLS>
             <SwStkChk>0</SwStkChk>
             <NoWarn>0</NoWarn>
             <uSurpInc>0</uSurpInc>
             <useXO>0</useXO>
             <VariousControls>
               <MiscControls></MiscControls>
               <Define></Define>
               <Undefine></Undefine>
               <IncludePath></IncludePath>
             </VariousControls>
           </Aads>
           <LDads>
             <umfTarg>0</umfTarg>
             <Ropi>0</Ropi>
             <Rwpi>0</Rwpi>
             <noStLib>0</noStLib>
             <RepFail>1</RepFail>
             <useFile>0</useFile>
             <TextAddressRange>0x08000000</TextAddressRange>
             <DataAddressRange>0x20000000</DataAddressRange>
             <pXoBase></pXoBase>
             <ScatterFile></ScatterFile>
             <IncludeLibs></IncludeLibs>
             <IncludeLibsPath></IncludeLibsPath>
             <Misc></Misc>
             <LinkerInputFile></LinkerInputFile>
             <DisabledWarnings></DisabledWarnings>
           </LDads>
         </TargetArmAds>
       </TargetOption>
       <Groups>
         <Group>
           <GroupName>STM32_files</GroupName>
           <Files>
             <File>
               <FileName>system_stm32f4xx.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\src\system_stm32f4xx.c</FilePath>
             </File>
             <File>
               <FileName>startup_stm32f4xx.s</FileName>
               <FileType>2</FileType>
               <FilePath>.\startup_stm32f4xx.s</FilePath>
             </File>
           </Files>
         </Group>
         <Group>
           <GroupName>SRC</GroupName>
           <Files>
             <File>
               <FileName>main.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\src\main.c</FilePath>
             </File>
             <File>
               <FileName>communication.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\src\communication.c</FilePath>
             </File>
             <File>
               <FileName>controller.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\src\controller.c</FilePath>
             </File>
           </Files>
         </Group>
         <Group>
           <GroupName>STM32_libs</GroupName>
           <Files>
             <File>
               <FileName>stm32f4xx_gpio.c</FileName>
               <FileType>1</FileType>
               <FilePath>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_gpio.c</FilePath>
             </File>
             <File>
               <FileName>stm32f4xx_rcc.c</FileName>
               <FileType>1</FileType>
               <FilePath>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_rcc.c</FilePath>
             </File>
             <File>
               <FileName>stm32f4xx_tim.c</FileName>
               <FileType>1</FileType>
               <FilePath>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_tim.c</FilePath>
             </File>
             <File>
               <FileName>misc.c</FileName>
               <FileType>1</FileType>
               <FilePath>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\misc.c</FilePath>
             </File>
             <File>
               <FileName>stm32f4xx_exti.c</FileName>
               <FileType>1</FileType>
               <FilePath>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_exti.c</FilePath>
             </File>
             <File>
               <FileName>stm32f4xx_syscfg.c</FileName>
               <FileType>1</FileType>
               <FilePath>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_syscfg.c</FilePath>
             </File>
             <File>
               <FileName>stm32f4xx_adc.c</FileName>
               <FileType>1</FileType>
               <FilePath>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_adc.c</FilePath>
             </File>
             <File>
               <FileName>stm32f4xx_dac.c</FileName>
               <FileType>1</FileType>
               <FilePath>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_dac.c</FilePath>
             </File>
             <File>
               <FileName>stm32f4xx_dma.c</FileName>
               <FileType>1</FileType>
               <FilePath>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_dma.c</FilePath>
             </File>
             <File>
               <FileName>stm32f4xx_usart.c</FileName>
               <FileType>1</FileType>
               <FilePath>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_usart.c</FilePath>
             </File>
             <File>
               <FileName>arm_cortexM4lf_math.lib</FileName>
               <FileType>4</FileType>
               <FilePath>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\CMSIS\Lib\ARM\arm_cortexM4lf_math.lib</FilePath>
             </File>
           </Files>
         </Group>
         <Group>
           <GroupName>SRC_drivers</GroupName>
           <Files>
             <File>
               <FileName>adc.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\src\drivers\adc.c</FilePath>
             </File>
             <File>
               <FileName>callback_timers.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\src\drivers\callback_timers.c</FilePath>
             </File>
             <File>
               <FileName>dac.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\src\drivers\dac.c</FilePath>
             </File>
             <File>
               <FileName>h_bridge.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\src\drivers\h_bridge.c</FilePath>
             </File>
             <File>
               <FileName>incr_encoder.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\src\drivers\incr_encoder.c</FilePath>
             </File>
             <File>
               <FileName>uart.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\src\drivers\uart.c</FilePath>
             </File>
             <File>
               <FileName>hall.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\src\drivers\hall.c</FilePath>
             </File>
             <File>
               <FileName>strain_gauge.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\src\drivers\strain_gauge.c</FilePath>
             </File>
             <File>
               <FileName>tachometer.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\src\drivers\tachometer.c</FilePath>
             </File>
             <File>
               <FileName>led.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\src\drivers\led.c</FilePath>
             </File>
             <File>
               <FileName>debug_gpio.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\src\drivers\debug_gpio.c</FilePath>
             </File>
+            <File>
+              <FileName>button.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\src\drivers\button.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
           <GroupName>SRC_lib</GroupName>
           <Files>
             <File>
               <FileName>basic_filter.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\src\lib\basic_filter.c</FilePath>
             </File>
             <File>
               <FileName>pid.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\src\lib\pid.c</FilePath>
             </File>
             <File>
               <FileName>utils.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\src\lib\utils.c</FilePath>
             </File>
             <File>
               <FileName>circular_buffer.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\src\lib\circular_buffer.c</FilePath>
             </File>
           </Files>
         </Group>
       </Groups>
     </Target>
   </Targets>
 
 </Project>
diff --git a/Firmware/src/drivers/button.c b/Firmware/src/drivers/button.c
new file mode 100644
index 0000000..8199d7f
--- /dev/null
+++ b/Firmware/src/drivers/button.c
@@ -0,0 +1,80 @@
+#include "button.h"
+#include "../communication.h"
+
+#define BOARD_BUTTON_PORT GPIOE
+#define BOARD_BUTTON_PIN GPIO_Pin_2
+#define USER_BUTTON_IRQ_CHANNEL EXTI2_IRQn
+#define USER_BUTTON_IRQ_LINE EXTI_Line2
+#define USER_BUTTON_IRQ_PINSOURCE EXTI_PinSource2
+#define USER_BUTTON_IRQ_SOURCE EXTI_PortSourceGPIOE
+
+void (*userButtonStateChangedCallback)(bool); ///< Function called when the button state changes. The bool parameter is true if the button was released.
+
+/**
+ * @brief Initializes the button module.
+ * @param stateChangedCallback function pointer to the callback function that
+ * should be called when the button state changes. If this feature is not used,
+ * NULL can be passed instead.
+ */
+void but_Init(void (*stateChangedCallback)(bool))
+{
+    GPIO_InitTypeDef GPIO_InitStruct;
+    EXTI_InitTypeDef EXTI_InitStruct;
+    NVIC_InitTypeDef NVIC_InitStruct;
+    
+    // Initialize the pin as input.
+    GPIO_InitStruct.GPIO_Pin   = BOARD_BUTTON_PIN;
+    GPIO_InitStruct.GPIO_Mode  = GPIO_Mode_IN;
+    GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
+    GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
+    GPIO_InitStruct.GPIO_PuPd  = GPIO_PuPd_NOPULL;
+    GPIO_Init(BOARD_BUTTON_PORT, &GPIO_InitStruct);
+    
+    // Optionally setup the callback that triggers when the button is pressed or
+    // released.
+    userButtonStateChangedCallback = stateChangedCallback;
+    
+    if(stateChangedCallback != NULL)
+    {
+        SYSCFG_EXTILineConfig(USER_BUTTON_IRQ_SOURCE,
+                              USER_BUTTON_IRQ_PINSOURCE);
+        
+        EXTI_InitStruct.EXTI_Line = USER_BUTTON_IRQ_LINE;
+        EXTI_InitStruct.EXTI_LineCmd = ENABLE;
+        EXTI_InitStruct.EXTI_Mode = EXTI_Mode_Interrupt;
+        EXTI_InitStruct.EXTI_Trigger = EXTI_Trigger_Rising_Falling;
+        EXTI_Init(&EXTI_InitStruct);
+     
+        NVIC_InitStruct.NVIC_IRQChannel = USER_BUTTON_IRQ_CHANNEL;
+        NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = USER_BUTTON_IRQ_PRIORITY;
+        NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0x0;
+        NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
+        NVIC_Init(&NVIC_InitStruct);
+    }
+}
+
+/**
+ * @brief Gets the current state of the user button.
+ * @return the state of the button (1=released, 0=pressed).
+ */
+bool but_GetState(void)
+{  
+    return GPIO_ReadInputDataBit(BOARD_BUTTON_PORT, BOARD_BUTTON_PIN) != 0;
+}
+
+/**
+ * @brief Calls the user button callback function.
+ * @remark: this function is called automatically by the pin change interrupt of
+ * the user button.
+ */
+void EXTI2_IRQHandler(void)
+{
+    if(EXTI_GetITStatus(USER_BUTTON_IRQ_LINE) != RESET)
+    {
+        if(userButtonStateChangedCallback != NULL)
+            userButtonStateChangedCallback(but_GetState());
+        
+        // Clear interrupt flag.
+        EXTI_ClearITPendingBit(USER_BUTTON_IRQ_LINE);
+    }
+}
diff --git a/Firmware/src/drivers/button.h b/Firmware/src/drivers/button.h
new file mode 100644
index 0000000..dc3e4eb
--- /dev/null
+++ b/Firmware/src/drivers/button.h
@@ -0,0 +1,27 @@
+#ifndef __BUTTON_H
+#define __BUTTON_H
+
+#include "../main.h"
+
+/** @defgroup Button Driver / Button
+  * @brief Driver to access a button
+  *
+  * Call but_Init() first in the initialization code. Then, call but_GetState()
+  * to read the current state of the button.
+  *
+  * It is also possible to pass a function pointer to the but_Init() function.
+  * Then, the given function will be called automatically when the button state
+  * changes (pressed or released).
+  *
+  * @addtogroup Button
+  * @{
+  */
+
+void but_Init(void (*stateChangedCallback)(bool));
+bool but_GetState(void);
+
+/**
+  * @}
+  */
+
+#endif
diff --git a/Firmware/src/main.c b/Firmware/src/main.c
index 6716ade..57c4556 100644
--- a/Firmware/src/main.c
+++ b/Firmware/src/main.c
@@ -1,76 +1,77 @@
 #include "main.h"
 #include "communication.h"
 #include "controller.h"
 #include "drivers/adc.h"
 #include "drivers/callback_timers.h"
 #include "drivers/dac.h"
 #include "drivers/debug_gpio.h"
 #include "drivers/h_bridge.h"
 #include "drivers/hall.h"
 #include "drivers/incr_encoder.h"
 #include "drivers/led.h"
 #include "drivers/strain_gauge.h"
 #include "drivers/tachometer.h"
 #include "lib/utils.h"
 
 extern volatile uint32_t ctrl_timestamp;
 
 volatile uint32_t statusReg = 0x00000000; // Main state register.
 
 /**
   * @brief  Main function, setups all the drivers and controllers.
   */
 int main(void)
 {
     // Setup the GPIOs and the interrupts.
     RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOB |
                            RCC_AHB1Periph_GPIOC | RCC_AHB1Periph_GPIOD |
                            RCC_AHB1Periph_GPIOE, ENABLE);
+    RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
     NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
 
     //
     cbt_Init(); // Setup the timers that will call the loops functions.
     
 	adc_Init(); // Setup the ADC.
 	
 	comm_Init(); // Setup the communication module.
     
     ctrl_Init(); // Setup the controllers.
 	
     enc_Init(); // Setup the incremental encoders.		
     
     hb_Init();   // Setup the H-bridge.
     hb_Enable(); //
     
     dac_Init(); // Setup the DAC.
     
-    led_Init();
+    led_Init(); // Setup the LEDs.
     
     dio_Init();
     
     // Delay to let the power electronics stabilize before calibrating the
     // current sensor.
     utils_DelayMs(200);
     
     adc_CalibrateCurrentSens();
     
     // Start the current loop.
     ctrl_StartCurrentLoop();
     
     // Init the external sensors drivers, connected to the ADC.
     hall_Init(ANIN1);
     //sg_Init(ANIN2);
     //tac_Init(ANIN2);
     
     // End of the initialization. Lock the SyncVar list, and notify the PC that
     // the board has (re)started.
     comm_LockSyncVarsList();
     comm_NotifyReady();
 
 	// Endless loop. The low priority functions are called here.
 	while(1)
 	{
 		// Update the communication.
         comm_Step();
 	}
 }
diff --git a/Firmware/src/main.h b/Firmware/src/main.h
index f6e29f3..eba926f 100644
--- a/Firmware/src/main.h
+++ b/Firmware/src/main.h
@@ -1,95 +1,96 @@
 /** \mainpage HRI board firmware documentation
  * \section intro_sec Introduction
  * This is the documentation of the HRI board firmware. You will find a
  * description of the provided library and drivers. As all the hardware and
  * software is very new, please do not hesitate to suggest improvements to the
  * course assistants (Romain Baud, Philipp Hörler and Laurent Jenni).
  *
  * \section code_struct_sec Code structure
  * The code is divided into 3 parts:
  *  - main: this is where the controllers and the communication protocol are
  * implemented. The call of all the initialization functions is also made here.
  *  - library: all the algorithms, data structures that could be used at many
  * places, are put into the library.
  *  - drivers: there is one driver per peripheral. All the hardware-specific
  * code is wrapped into these files, so that the user does not have to worry
  * about the microcontroller operation (and spend a lot of time to read the
  * documentation).
  *
  * One module (controller, communication, library or driver) is always splitted
  * in two files, .h and .c, like in C++.
  * @image html soft_architecture.png
  *
  * \section lib_how_to How to use the provided library
  * For most of the driver/library modules, call x_Init() only once, when the
  * program starts (typically in the main()). Then, you can call
  * x_Step()/x_Set()/x_Get() everytime as needed, typically in the control
  * functions called periodically (ctrl_RegulatePosition()...).
  * 
  * See the "Modules" section of this documentation to see how they work.
  *
  * \section stm32_resources_usage STM32's resources usage
  * \subsection stm32_resources_usage_timers Timers
  *  - TIM1: PWM of the 4 user LEDs.
  *  - TIM2: -
  *  - TIM3: -
  *  - TIM4: -
  *  - TIM5: encoder quadrature decoder.
  *  - TIM6: position loop.
  *  - TIM7: variables streaming loop.
  *  - TIM8: H-bridge PWM.
  *  - TIM9: -
  *  - TIM10: current loop.
  *  - TIM11: -
  *  - TIM12: -
  *  - TIM13: -
  *  - TIM14: -
  * \subsection stm32_resources_usage_adcs ADCs
  *  - ADC1: general purpose ADC.
  *  - ADC2: -
  *  - ADC3: motor current sensor ADC.
  * \subsection stm32_resources_usage_dac DAC
  *  - DAC: DAC extension.
  * \subsection stm32_resources_usage_buses Communication buses
  *  - USART1: UART extension.
  *  - USART2: USB communication UART.
  *  - I2C1: I2C extension.
  *  - SPI3: SPI extension.
  */
 
 #ifndef __MAIN_H
 #define __MAIN_H
 
 #include "stm32f4_discovery.h"
 #include <math.h>
 #include <stdbool.h>
 #include "arm_math.h"
 
 // Clocks configuration.
 #define STM_SYSCLOCK_FREQ 168000000 // [Hz].
 #define APB1_PRESCALER 4
 #define APB2_PRESCALER 2
 #define TIM_MULTIPLIER 2
 
 // Interupt priority.
-#define CURRENT_LOOP_IRQ_PRIORITY 1 // High freq loop, should not be interrupted.
+#define CURRENT_LOOP_IRQ_PRIORITY 1 // High freq loop, should interrupt all the others.
 #define CONTROL_LOOP_IRQ_PRIORITY 2
 #define CODER_INDEX_IRQ_PRIORITY  2 // Useless, remove?
 #define UART_RX_IRQ_PRIORIY       3
-#define DATA_LOOP_IRQ_PRIORITY    4 // Streaming packets, lowest priority.
+#define DATA_LOOP_IRQ_PRIORITY    4 // Streaming packets.
+#define USER_BUTTON_IRQ_PRIORITY  4
 
 // Electrical parameters.
 #define STM_SUPPLY_VOLTAGE 3.3f // Power supply voltage of the microcontroller [V].
 #define ADC_REF_VOLTAGE 2.5f // Voltage reference of the ADC (VREF) [V].
 #define H_BRIDGE_SUPPLY_VOLTAGE 24.0f // [V].
 #define CURRENT_SHUNT_RESISTANCE 0.025f // [ohm].
 #define CURRENT_SHUNT_AMPLIFIER_GAIN 50.0f // [].
 #define MOTOR_RESISTANCE 10.6f + 5.0f // 10.6 ohm according to the datasheet, actually more, depends on the motor [ohm].
 
 // Mechanical parameters.
 #define REDUCTION_RATIO 16.5f
 #define MOTOR_TORQUE_CONST 0.0538f // [N.m/A].
 #define MOTOR_SPEED_CONST 177.0f // [RPM/V].
 #define MOTOR_NOMINAL_TORQUE 0.0323f // [N.m].
 
 #endif