diff --git a/Firmware/carteHRI.uvoptx b/Firmware/carteHRI.uvoptx
index cc6d1ed..ccc8985 100644
--- a/Firmware/carteHRI.uvoptx
+++ b/Firmware/carteHRI.uvoptx
@@ -1,801 +1,775 @@
 <?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>
       <CLKADS>168000000</CLKADS>
       <OPTTT>
         <gFlags>1</gFlags>
         <BeepAtEnd>1</BeepAtEnd>
         <RunSim>0</RunSim>
         <RunTarget>1</RunTarget>
         <RunAbUc>0</RunAbUc>
       </OPTTT>
       <OPTHX>
         <HexSelection>1</HexSelection>
         <FlashByte>65535</FlashByte>
         <HexRangeLowAddress>0</HexRangeLowAddress>
         <HexRangeHighAddress>0</HexRangeHighAddress>
         <HexOffset>0</HexOffset>
       </OPTHX>
       <OPTLEX>
         <PageWidth>79</PageWidth>
         <PageLength>66</PageLength>
         <TabStop>8</TabStop>
         <ListingPath>.\lst\</ListingPath>
       </OPTLEX>
       <ListingPage>
         <CreateCListing>1</CreateCListing>
         <CreateAListing>1</CreateAListing>
         <CreateLListing>1</CreateLListing>
         <CreateIListing>0</CreateIListing>
         <AsmCond>1</AsmCond>
         <AsmSymb>1</AsmSymb>
         <AsmXref>0</AsmXref>
         <CCond>1</CCond>
         <CCode>0</CCode>
         <CListInc>0</CListInc>
         <CSymb>0</CSymb>
         <LinkerCodeListing>0</LinkerCodeListing>
       </ListingPage>
       <OPTXL>
         <LMap>1</LMap>
         <LComments>1</LComments>
         <LGenerateSymbols>1</LGenerateSymbols>
         <LLibSym>1</LLibSym>
         <LLines>1</LLines>
         <LLocSym>1</LLocSym>
         <LPubSym>1</LPubSym>
         <LXref>0</LXref>
         <LExpSel>0</LExpSel>
       </OPTXL>
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
         <IsCurrentTarget>1</IsCurrentTarget>
       </OPTFL>
       <CpuCode>18</CpuCode>
       <Books>
         <Book>
           <Number>0</Number>
           <Title>User Manual (MCBSTM32F400)</Title>
           <Path>C:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.5.0\MDK\Boards\Keil\MCBSTM32F400\Documentation\mcbstm32f200.chm</Path>
         </Book>
         <Book>
           <Number>1</Number>
           <Title>Schematics (MCBSTM32F400)</Title>
           <Path>C:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.5.0\MDK\Boards\Keil\MCBSTM32F400\Documentation\mcbstm32f400-schematics.pdf</Path>
         </Book>
         <Book>
           <Number>2</Number>
           <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>
         </Book>
         <Book>
           <Number>3</Number>
           <Title>User Manual (STM32F4-Discovery)</Title>
           <Path>C:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.5.0\MDK\Boards\ST\STM32F4-Discovery\Documentation\DM00039084.pdf</Path>
         </Book>
         <Book>
           <Number>4</Number>
           <Title>Bill of Materials (STM32F4-Discovery)</Title>
           <Path>C:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.5.0\MDK\Boards\ST\STM32F4-Discovery\Documentation\stm32f4discovery_bom.zip</Path>
         </Book>
         <Book>
           <Number>5</Number>
           <Title>Gerber Files (STM32F4-Discovery)</Title>
           <Path>C:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.5.0\MDK\Boards\ST\STM32F4-Discovery\Documentation\stm32f4discovery_gerber.zip</Path>
         </Book>
         <Book>
           <Number>6</Number>
           <Title>Schematics (STM32F4-Discovery)</Title>
           <Path>C:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.5.0\MDK\Boards\ST\STM32F4-Discovery\Documentation\stm32f4discovery_sch.zip</Path>
         </Book>
         <Book>
           <Number>7</Number>
           <Title>MCBSTM32F400 Evaluation Board Web Page (MCBSTM32F400)</Title>
           <Path>http://www.keil.com/mcbstm32f400/</Path>
         </Book>
         <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>
         </Book>
       </Books>
       <DebugOpt>
         <uSim>0</uSim>
         <uTrg>1</uTrg>
         <sLdApp>1</sLdApp>
         <sGomain>1</sGomain>
         <sRbreak>1</sRbreak>
         <sRwatch>1</sRwatch>
         <sRmem>1</sRmem>
         <sRfunc>1</sRfunc>
         <sRbox>1</sRbox>
         <tLdApp>1</tLdApp>
         <tGomain>0</tGomain>
         <tRbreak>1</tRbreak>
         <tRwatch>1</tRwatch>
         <tRmem>1</tRmem>
         <tRfunc>0</tRfunc>
         <tRbox>1</tRbox>
         <tRtrace>1</tRtrace>
         <sRSysVw>1</sRSysVw>
         <tRSysVw>1</tRSysVw>
         <sRunDeb>0</sRunDeb>
         <sLrtime>0</sLrtime>
         <nTsel>11</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
         <sDlgPa></sDlgPa>
         <sIfile></sIfile>
         <tDll></tDll>
         <tDllPa></tDllPa>
         <tDlgDll></tDlgDll>
         <tDlgPa></tDlgPa>
         <tIfile></tIfile>
         <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>ARMRTXEVENTFLAGS</Key>
           <Name>-L50 -Z18 -C0 -M0 -T0</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGDARM</Key>
           <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGTARM</Key>
           <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>ARMDBGFLAGS</Key>
           <Name>-T0</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
           <Name>(105=-1,-1,-1,-1,0)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>ST-LINKIII-KEIL_SWO</Key>
           <Name>-U303030303030303030303031 -O8398 -S1 -C0 -A0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO19 -TC168000000 -TP21 -TDS8053 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407VG$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>UL2CM3</Key>
           <Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407VG$Flash\STM32F4xx_1024.FLM))</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
       <Breakpoint/>
       <WatchWindow1>
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
           <ItemText>uart_txBuffer[0]</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
           <ItemText>uart_txBuffer[1]</ItemText>
         </Ww>
         <Ww>
           <count>2</count>
           <WinNumber>1</WinNumber>
           <ItemText>demoSineOutput</ItemText>
         </Ww>
         <Ww>
           <count>3</count>
           <WinNumber>1</WinNumber>
           <ItemText>ctrl_motorPosHall</ItemText>
         </Ww>
         <Ww>
           <count>4</count>
           <WinNumber>1</WinNumber>
           <ItemText>ctrl_timestamp</ItemText>
         </Ww>
       </WatchWindow1>
       <WatchWindow2>
         <Ww>
           <count>0</count>
           <WinNumber>2</WinNumber>
           <ItemText>motorCurrentDebug</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
           <WinNumber>2</WinNumber>
           <ItemText>motorTargetCurrentDebug</ItemText>
         </Ww>
         <Ww>
           <count>2</count>
           <WinNumber>2</WinNumber>
           <ItemText>ctrl_motorTorque_mNm_c</ItemText>
         </Ww>
         <Ww>
           <count>3</count>
           <WinNumber>2</WinNumber>
           <ItemText>motorTorque_mNm_dbg</ItemText>
         </Ww>
         <Ww>
           <count>4</count>
           <WinNumber>2</WinNumber>
           <ItemText>motorTorque_mNm</ItemText>
         </Ww>
         <Ww>
           <count>5</count>
           <WinNumber>2</WinNumber>
           <ItemText>nCycles</ItemText>
         </Ww>
         <Ww>
           <count>6</count>
           <WinNumber>2</WinNumber>
           <ItemText>motorPosCod,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>7</count>
           <WinNumber>2</WinNumber>
           <ItemText>CurrentSensOffset,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>8</count>
           <WinNumber>2</WinNumber>
           <ItemText>motorCurrent_mA_mean</ItemText>
         </Ww>
         <Ww>
           <count>9</count>
           <WinNumber>2</WinNumber>
           <ItemText>motorCurrent_mA</ItemText>
         </Ww>
         <Ww>
           <count>10</count>
           <WinNumber>2</WinNumber>
           <ItemText>ADCValuesBuffer,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>11</count>
           <WinNumber>2</WinNumber>
           <ItemText>motorCurrent_mA</ItemText>
         </Ww>
         <Ww>
           <count>12</count>
           <WinNumber>2</WinNumber>
           <ItemText>motorCurrentSum</ItemText>
         </Ww>
         <Ww>
           <count>13</count>
           <WinNumber>2</WinNumber>
           <ItemText>debugVar01,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>14</count>
           <WinNumber>2</WinNumber>
           <ItemText>adcValues1,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>15</count>
           <WinNumber>2</WinNumber>
           <ItemText>motorCurrent_mA</ItemText>
         </Ww>
       </WatchWindow2>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
       <DebugFlag>
         <trace>0</trace>
         <periodic>1</periodic>
         <aLwin>1</aLwin>
         <aCover>0</aCover>
         <aSer1>0</aSer1>
         <aSer2>0</aSer2>
         <aPa>0</aPa>
         <viewmode>1</viewmode>
         <vrSel>0</vrSel>
         <aSym>0</aSym>
         <aTbox>0</aTbox>
         <AscS1>0</AscS1>
         <AscS2>0</AscS2>
         <AscS3>0</AscS3>
         <aSer3>0</aSer3>
         <eProf>0</eProf>
         <aLa>0</aLa>
         <aPa1>0</aPa1>
         <AscS4>0</AscS4>
         <aSer4>0</aSer4>
         <StkLoc>0</StkLoc>
         <TrcWin>0</TrcWin>
         <newCpu>0</newCpu>
         <uProt>0</uProt>
       </DebugFlag>
       <LintExecutable></LintExecutable>
       <LintConfigFile></LintConfigFile>
       <bLintAuto>0</bLintAuto>
     </TargetOption>
   </Target>
 
   <Group>
     <GroupName>STM32_files</GroupName>
     <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>1</GroupNumber>
       <FileNumber>1</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\system_stm32f4xx.c</PathWithFileName>
       <FilenameWithoutPath>system_stm32f4xx.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>1</GroupNumber>
       <FileNumber>2</FileNumber>
       <FileType>2</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\startup_stm32f4xx.s</PathWithFileName>
       <FilenameWithoutPath>startup_stm32f4xx.s</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
   </Group>
 
   <Group>
     <GroupName>SRC</GroupName>
     <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>2</GroupNumber>
       <FileNumber>3</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\main.c</PathWithFileName>
       <FilenameWithoutPath>main.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
       <FileNumber>4</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\communication.c</PathWithFileName>
       <FilenameWithoutPath>communication.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
       <FileNumber>5</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\controller.c</PathWithFileName>
       <FilenameWithoutPath>controller.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
   </Group>
 
   <Group>
     <GroupName>STM32_libs</GroupName>
     <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>3</GroupNumber>
       <FileNumber>6</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_gpio.c</PathWithFileName>
       <FilenameWithoutPath>stm32f4xx_gpio.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
       <FileNumber>7</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_rcc.c</PathWithFileName>
       <FilenameWithoutPath>stm32f4xx_rcc.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
       <FileNumber>8</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_tim.c</PathWithFileName>
       <FilenameWithoutPath>stm32f4xx_tim.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
       <FileNumber>9</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\misc.c</PathWithFileName>
       <FilenameWithoutPath>misc.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
       <FileNumber>10</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_exti.c</PathWithFileName>
       <FilenameWithoutPath>stm32f4xx_exti.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
       <FileNumber>11</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_syscfg.c</PathWithFileName>
       <FilenameWithoutPath>stm32f4xx_syscfg.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
       <FileNumber>12</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_adc.c</PathWithFileName>
       <FilenameWithoutPath>stm32f4xx_adc.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
       <FileNumber>13</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_dac.c</PathWithFileName>
       <FilenameWithoutPath>stm32f4xx_dac.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
       <FileNumber>14</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_dma.c</PathWithFileName>
       <FilenameWithoutPath>stm32f4xx_dma.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
       <FileNumber>15</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_usart.c</PathWithFileName>
       <FilenameWithoutPath>stm32f4xx_usart.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
       <FileNumber>16</FileNumber>
       <FileType>4</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>C:\STM32F4-Discovery_FW_V1.1.0\Libraries\CMSIS\Lib\ARM\arm_cortexM4lf_math.lib</PathWithFileName>
       <FilenameWithoutPath>arm_cortexM4lf_math.lib</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
   </Group>
 
   <Group>
     <GroupName>SRC_drivers</GroupName>
     <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>4</GroupNumber>
       <FileNumber>17</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drivers\adc.c</PathWithFileName>
       <FilenameWithoutPath>adc.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
       <FileNumber>18</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drivers\callback_timers.c</PathWithFileName>
       <FilenameWithoutPath>callback_timers.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
       <FileNumber>19</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drivers\dac.c</PathWithFileName>
       <FilenameWithoutPath>dac.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
       <FileNumber>20</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drivers\h_bridge.c</PathWithFileName>
       <FilenameWithoutPath>h_bridge.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
       <FileNumber>21</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drivers\incr_encoder.c</PathWithFileName>
       <FilenameWithoutPath>incr_encoder.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
       <FileNumber>22</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drivers\uart.c</PathWithFileName>
       <FilenameWithoutPath>uart.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
       <FileNumber>23</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drivers\hall.c</PathWithFileName>
       <FilenameWithoutPath>hall.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
       <FileNumber>24</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>.\src\drivers\strain_gauge.c</PathWithFileName>
-      <FilenameWithoutPath>strain_gauge.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>4</GroupNumber>
-      <FileNumber>25</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <Focus>0</Focus>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>.\src\drivers\tachometer.c</PathWithFileName>
-      <FilenameWithoutPath>tachometer.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>4</GroupNumber>
-      <FileNumber>26</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <Focus>0</Focus>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
       <PathWithFileName>.\src\drivers\led.c</PathWithFileName>
       <FilenameWithoutPath>led.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>27</FileNumber>
+      <FileNumber>25</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <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>
+      <FileNumber>26</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>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>29</FileNumber>
+      <FileNumber>27</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\lib\basic_filter.c</PathWithFileName>
       <FilenameWithoutPath>basic_filter.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>30</FileNumber>
+      <FileNumber>28</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\lib\pid.c</PathWithFileName>
       <FilenameWithoutPath>pid.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>31</FileNumber>
+      <FileNumber>29</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\lib\utils.c</PathWithFileName>
       <FilenameWithoutPath>utils.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>32</FileNumber>
+      <FileNumber>30</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\lib\circular_buffer.c</PathWithFileName>
       <FilenameWithoutPath>circular_buffer.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
   </Group>
 
 </ProjectOpt>
diff --git a/Firmware/carteHRI.uvprojx b/Firmware/carteHRI.uvprojx
index 4684c8a..2a6b74b 100644
--- a/Firmware/carteHRI.uvprojx
+++ b/Firmware/carteHRI.uvprojx
@@ -1,601 +1,591 @@
 <?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>
           </OPTHX>
           <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>
                 <Type>0</Type>
                 <StartAddress>0x0</StartAddress>
                 <Size>0x0</Size>
               </OCR_RVCT8>
               <OCR_RVCT9>
                 <Type>0</Type>
                 <StartAddress>0x20000000</StartAddress>
                 <Size>0x20000</Size>
               </OCR_RVCT9>
               <OCR_RVCT10>
                 <Type>0</Type>
                 <StartAddress>0x10000000</StartAddress>
                 <Size>0x10000</Size>
               </OCR_RVCT10>
             </OnChipMemories>
             <RvctStartVector></RvctStartVector>
           </ArmAdsMisc>
           <Cads>
             <interw>1</interw>
             <Optim>4</Optim>
             <oTime>1</oTime>
             <SplitLS>0</SplitLS>
             <OneElfS>0</OneElfS>
             <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/communication.c b/Firmware/src/communication.c
index ea93fc1..c2d1c5a 100644
--- a/Firmware/src/communication.c
+++ b/Firmware/src/communication.c
@@ -1,964 +1,962 @@
 #include "communication.h"
 #include "controller.h"
 #include "drivers/callback_timers.h"
 #include "drivers/adc.h"
 #include "drivers/dac.h"
 #include "drivers/incr_encoder.h"
 #include "drivers/hall.h"
-#include "drivers/strain_gauge.h"
-#include "drivers/tachometer.h"
 #include "drivers/uart.h"
 #include "lib/basic_filter.h"
 #include "lib/pid.h"
 #include "lib/utils.h"
 
 #include <stdio.h>
 
 uint32_t selectedVariablesToStream; // Bitfield that indicates for each variable if it should be streamed or not.
 uint8_t txBuffer[1024];
 
 #define COMM_BUFFER_SIZE 4096
 #define DEBUG_MESSAGE_BUFFER_SIZE 1024
 
 uint8_t comm_packetTxBuffer[COMM_BUFFER_SIZE];
 char comm_debugMessageBuffer[DEBUG_MESSAGE_BUFFER_SIZE];
 
 cb_CircularBuffer *comm_rxQueue;
 uint8_t rxCurrentMessageType = PC_MESSAGE_DO_NOTHING; // Current message type for RX bytes.
 uint32_t rxBytesCount; // Number of received bytes for the current message.
 uint8_t firstHalfByte; // First half of the data byte to receive.
 uint8_t rxDataBytesBuffer[32]; // Data bytes received (ready to use, bytes already merged).
 
 // SyncVar-related vars.
 #define N_SYNCVARS_MAX 25
 comm_SyncVar comm_syncVars[N_SYNCVARS_MAX];
 uint8_t comm_nSyncVars;
 volatile bool comm_varListLocked;
 uint8_t comm_streamId;
 uint8_t comm_nVarsToStream;
 comm_SyncVar const* comm_streamedVars[N_SYNCVARS_MAX];
 extern volatile uint32_t ctrl_timestamp; // [us].
 
 // Private functions.
 void comm_SendPacket(uint8_t messageType, uint8_t *data, uint16_t dataLength);
 void comm_HandleByte(uint8_t rxData);
 void comm_Stream(void);
 void comm_GetVar(comm_SyncVar const *syncVar, uint8_t *varValueData);
 void comm_SetVar(comm_SyncVar *syncVar, uint8_t *varValueData);
 void comm_SendVarsList(void);
 
 /**
   * @brief Init the communication manager.
   */
 void comm_Init(void)
 {
     comm_nSyncVars = 0;
     comm_varListLocked = false;
     comm_streamId = 0;
     comm_nVarsToStream = 0;
  
     // Setup the UART peripheral, and specify the function that will be called
     // each time a byte is received.
     uart_Init();
     comm_rxQueue = uart_GetRxQueue();
     rxCurrentMessageType = PC_MESSAGE_DO_NOTHING;
 
     // Make the streaming function periodically called by the timer 7.
     cbt_SetCommLoopTimer(comm_Stream, TE_DATA_LOOP_DEFAULT_VAL);
 }
 
 /**
  * @brief Updates the communication manager.
  * Send the bytes waiting in the TX buffer, and process the bytes received.
  */
 void comm_Step(void)
 {
     // Send the bytes in the TX queue, even if it is not full, to avoid latency.
     uart_FlushTx();
 
     // Interpret the bytes in the RX queue.
     uart_Step();
 
     while(!cb_IsEmpty(comm_rxQueue))
         comm_HandleByte(cb_Pull(comm_rxQueue));
 }
 
 /**
  * @brief Sends a packet to notify the PC that the board just (re)started.
  * This informs the PC software that the board is ready, and that the variables
  * list can be retrieved.
  */
 void comm_NotifyReady(void)
 {
     comm_SendPacket(STM_MESSAGE_START_INFO, NULL, 0);
 }
 
 /**
   * @brief Generates and sends a data streaming packet.
   */
 void comm_Stream()
 {
     // If the data streaming is enabled, send a stream packet to the PC.
     if(comm_nVarsToStream > 0)
     {
         uint8_t i;
         int nDataBytesToSend = 0;
         
         // Stream ID.
         txBuffer[nDataBytesToSend] = comm_streamId;
         nDataBytesToSend++;
         
         // Timestamp.
         memcpy(&txBuffer[nDataBytesToSend], (uint32_t*)&ctrl_timestamp,
                sizeof(ctrl_timestamp));
         nDataBytesToSend += sizeof(ctrl_timestamp);
 
         // SyncVars values.
         for(i=0; i<comm_nVarsToStream; i++)
         {
             comm_SyncVar const* sv = comm_streamedVars[i];
             
             comm_GetVar(sv, &txBuffer[nDataBytesToSend]);
 
             nDataBytesToSend += sv->size;
         }
 
         comm_SendPacket(STM_MESSAGE_STREAMING_PACKET, txBuffer, nDataBytesToSend);
     }
 }
 
 /**
  * @brief Gets the value of a SyncVar.
  * @param syncVar: address of the SyncVar to get the value from.
  * @param varValueData: start address of an array to copy the raw bytes of the
  * value of the SyncVar.
  */
 void comm_GetVar(comm_SyncVar const *syncVar, uint8_t *varValueData)
 {
     comm_SyncVar const *v = syncVar;
     
     if(v->usesVarAddress)
         memcpy(varValueData, v->address, v->size);
     else
     {
         switch(v->type)
         {
         case BOOL:
             {
                 bool tmpBool = ((bool (*)(void))v->getFunc)();
                 memcpy(varValueData, &tmpBool, v->size);
             }
             break;
         case UINT8:
             {
                 uint8_t tmpUint8 = ((uint8_t (*)(void))v->getFunc)();
                 memcpy(varValueData, &tmpUint8, v->size);
             }
             break;
         case INT8:
             {
                 int8_t tmpInt8 = ((int8_t (*)(void))v->getFunc)();
                 memcpy(varValueData, &tmpInt8, v->size);
             }
             break;
         case UINT16:
             {
                 uint16_t tmpUint16 = ((uint16_t (*)(void))v->getFunc)();
                 memcpy(varValueData, &tmpUint16, v->size);
             }
             break;
         case INT16:
             {
                 int16_t tmpInt16 = ((int16_t (*)(void))v->getFunc)();
                 memcpy(varValueData, &tmpInt16, v->size);
             }
             break;
         case UINT32:
             {
                 uint32_t tmpUint32 = ((uint32_t (*)(void))v->getFunc)();
                 memcpy(varValueData, &tmpUint32, v->size);
             }
             break;
         case INT32:
             {
                 int32_t tmpInt32 = ((int32_t (*)(void))v->getFunc)();
                 memcpy(varValueData, &tmpInt32, v->size);
             }
             break;
         case UINT64:
             {
                 uint32_t tmpUint64 = ((uint64_t (*)(void))v->getFunc)();
                 memcpy(varValueData, &tmpUint64, v->size);
             }
             break;
         case INT64:
             {
                 int32_t tmpInt64 = ((int64_t (*)(void))v->getFunc)();
                 memcpy(varValueData, &tmpInt64, v->size);
             }
             break;
         case FLOAT32:
             {
                 float32_t tmpFloat = ((float32_t (*)(void))v->getFunc)();
                 memcpy(varValueData, &tmpFloat, v->size);
             }
             break;
         case FLOAT64:
             {
                 double tmpDouble = ((double (*)(void))v->getFunc)();
                 memcpy(varValueData, &tmpDouble, v->size);
             }
             break;
         }
     }
 }
 
 /**
  * @brief Sets the value of a SyncVar.
  * @param syncVar: address of the SyncVar to set the value.
  * @param varValueData: start address of an array to copy the raw bytes to the
  * SyncVar value.
  */
 void comm_SetVar(comm_SyncVar *syncVar, uint8_t *varValueData)
 {
     comm_SyncVar *v = syncVar;
     
     if(v->usesVarAddress)
     {
         if(v->access != READONLY)
             memcpy(v->address, varValueData, v->size);
     }
     else
     {
         if(v->setFunc == NULL)
             return;
     
         switch(v->type)
         {
         case BOOL:
             {
                 bool tmp;
                 memcpy(&tmp, varValueData, v->size);
                 ((void (*)(bool))v->setFunc)(tmp);
             }
             break;
         case UINT8:
             {
                 uint8_t tmp;
                 memcpy(&tmp, varValueData, v->size);
                 ((void (*)(uint8_t))v->setFunc)(tmp);
             }
             break;
         case INT8:
             {
                 int8_t tmp;
                 memcpy(&tmp, varValueData, v->size);
                 ((void (*)(int8_t))v->setFunc)(tmp);
             }
             break;
         case UINT16:
             {
                 uint16_t tmp;
                 memcpy(&tmp, varValueData, v->size);
                 ((void (*)(uint16_t))v->setFunc)(tmp);
             }
             break;
         case INT16:
             {
                 int16_t tmp;
                 memcpy(&tmp, varValueData, v->size);
                 ((void (*)(int16_t))v->setFunc)(tmp);
             }
             break;
         case UINT32:
             {
                 uint32_t tmp;
                 memcpy(&tmp, varValueData, v->size);
                 ((void (*)(uint32_t))v->setFunc)(tmp);
             }
             break;
         case INT32:
             {
                 int32_t tmp;
                 memcpy(&tmp, varValueData, v->size);
                 ((void (*)(int32_t))v->setFunc)(tmp);
             }
             break;
         case UINT64:
             {
                 uint64_t tmp;
                 memcpy(&tmp, varValueData, v->size);
                 ((void (*)(uint64_t))v->setFunc)(tmp);
             }
             break;
         case INT64:
             {
                 int64_t tmp;
                 memcpy(&tmp, varValueData, v->size);
                 ((void (*)(int64_t))v->setFunc)(tmp);
             }
             break;
         case FLOAT32:
             {
                 float32_t tmp;
                 memcpy(&tmp, varValueData, v->size);
                 ((void (*)(float32_t))v->setFunc)(tmp);
             }
             break;
         case FLOAT64:
             {
                 double tmp;
                 memcpy(&tmp, varValueData, v->size);
                 ((void (*)(double))v->setFunc)(tmp);
             }
             break;
         }
     }
 }
 
 /**
   * @brief Sends Packet with a header and data bytes.
   * @param type: message type ("header" of the message).
   * @param data: array of data bytes to be sent ("content" of the message).
   * @param dataLength: number of data bytes to be sent.
   */
 void comm_SendPacket(uint8_t type, uint8_t *data, uint16_t dataLength)
 {
     int i=0;
 
     uint8_t *p = comm_packetTxBuffer;
 
     *p = ((1<<7) | type);
     p++;
     
     for(i=0; i<dataLength; i++)
     {
         // Every data byte is splitted into two transmitted bytes.
         *p = ((data[i]&0xf0) >> 4); // Most significant bits.
         p++;
         *p = ((data[i]&0x0f)); // Least significant bits.
         p++;
     }
 
     uart_SendBytesAsync(comm_packetTxBuffer, dataLength*2+1);
 }
 
 /**
   * @brief Processes the received byte to interpret the messages.
   * @param rxData: the byte to be processed and interpreted.
   */
 void comm_HandleByte(uint8_t rxData)
 {
     if(rxData & (1<<7)) // The start byte has the most significant bit high.
     {
         rxCurrentMessageType = (rxData & ~(1<<7)); // Remove the start bit.
         rxBytesCount = 0;
     }
     else
         rxBytesCount++;
         
     if(rxBytesCount % 2 == 1) // First half of the data byte has been received.
         firstHalfByte = rxData; // Store it until the second half arrives.
     else // Second half of the data byte has been received (or no data bytes yet).
     {
         int dataBytesReady = rxBytesCount/2;
         rxDataBytesBuffer[dataBytesReady-1] = (firstHalfByte<<4) + (rxData & 0xf);
         
         switch(rxCurrentMessageType)
         {
         case PC_MESSAGE_DO_NOTHING:
             if(dataBytesReady == 0)
                 ; // Do nothing.
             break;
             
         case PC_MESSAGE_PING:
             if(dataBytesReady == 0)
                 comm_SendPacket(STM_MESSAGE_PINGBACK, NULL, 0);
             break;
             
         case PC_MESSAGE_GET_VARS_LIST:
             if(dataBytesReady == 0 && comm_varListLocked)
             {
                 int16_t i, length;
                 uint8_t *p = &txBuffer[0];
             
                 *p = (uint8_t)comm_nSyncVars;
                 p++;
                 
                 for(i=0; i<comm_nSyncVars; i++)
                 {
                     memcpy(p, comm_syncVars[i].name, SYNCVAR_NAME_SIZE);
                     p += SYNCVAR_NAME_SIZE;
                     
                     *p = (uint8_t)comm_syncVars[i].type;
                     p++;
                     
                     *p = (uint8_t)comm_syncVars[i].access;
                     p++;
                     
                     *p = (uint8_t)comm_syncVars[i].size;
                     p++;
                 }
                 
                 length = p - &txBuffer[0];
                 comm_SendPacket(STM_MESSAGE_VARS_LIST, txBuffer, length);
             }
             break;
 
         case PC_MESSAGE_GET_VAR:
             if(dataBytesReady == 1)
             {
                 comm_SyncVar *v;
 
                 // Extract the index, that indicates which variable will be sent.
                 uint8_t variableIndex = rxDataBytesBuffer[0];
 
                 // If the variable index is out of range, ignore the request.
                 if(variableIndex >= comm_nSyncVars)
                     return;
                     
                 v = &comm_syncVars[variableIndex];
                     
                 // If the variable is not readable, ignore the request.
                 if((v->usesVarAddress && v->access == WRITEONLY) ||
                    (!v->usesVarAddress && v->getFunc == NULL))
                 {
                     break;
                 }
 
                 // Prepare the message to be sent to the PC.
                 // First byte: variable index.
                 txBuffer[0] = variableIndex;
 
                 // Following bytes: actual value of the variable.
                 comm_GetVar(v, &txBuffer[1]);
 
                 // Send the message to the PC.
                 comm_SendPacket(STM_MESSAGE_VAR, txBuffer, 1 + v->size);
             }
             break;
 
         case PC_MESSAGE_SET_VAR:
             if(dataBytesReady >= 1)
             {
                 comm_SyncVar *v;
                 uint8_t variableIndex;
 
                 // Extract the index (that indicates which variable will change),
                 // and the new value of the variable.
                 variableIndex = rxDataBytesBuffer[0];
                 
                 // If the variable index is out of range, ignore the request.
                 if(variableIndex >= comm_nSyncVars)
                     return;
                     
                 v = &comm_syncVars[variableIndex];
 
                 // Set the selected variable with the new value.
                 if(dataBytesReady == 1 + v->size)
                     comm_SetVar(v, &rxDataBytesBuffer[1]);
             }
             break;
 
         case PC_MESSAGE_SET_STREAMED_VAR:
             if(dataBytesReady >= 1)
             {
                 int i;
                 comm_nVarsToStream = rxDataBytesBuffer[0];
                 
                 if(dataBytesReady != 1 + 1 + comm_nVarsToStream)
                     return;
                     
                 comm_streamId = rxDataBytesBuffer[1];
                     
                 for(i=0; i<comm_nVarsToStream; i++)
                     comm_streamedVars[i] = &comm_syncVars[rxDataBytesBuffer[2+i]];
             }
             break;
             
         default: // No data bytes for the other message types.
             break;
         }
     }
 }
 
 /**
  * @brief Adds a monitored variable to the list, with its address.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param address: a pointer to the variable to monitor.
  * @param type: the type of the variable.
  * @param size: the size of the variable [bytes].
  * @param access: the access rights to this variable (READONLY, WRITEONLY, or
  * READWRITE).
  */
 void comm_monitorVar(const char name[], void *address, comm_VarType type,
                      uint8_t size, comm_VarAccess access)
 {
     comm_SyncVar v;
     
     // Adding a variable to the list is not allowed if it has been locked.
     if(comm_varListLocked)
     {
         comm_SendDebugMessage("Warning: can't add the \"%s\" SyncVar, because "
                               "the list has already been locked.", name);
         return;
     }
     
     // Adding a variable to the list is not allowed if it is full.
     if(comm_nSyncVars >= N_SYNCVARS_MAX)
     {
         comm_SendDebugMessage("Warning: can't add the \"%s\" SyncVar, because "
                               "the list is full.", name);
         return;
     }
     
     // Trim the name if it is too long.
     if(strlen(name) > SYNCVAR_NAME_SIZE - 1)
     {
         memcpy(v.name, name, SYNCVAR_NAME_SIZE - 1);
         v.name[SYNCVAR_NAME_SIZE - 1] = '\0';
     }
     else
         strcpy(v.name, name);
 
     // Build the SyncVar.
     v.address = address;
     v.type = type;
     v.size = size;
     v.access = access;
     v.usesVarAddress = true;
 
     // Add the SyncVar to the list.
     comm_syncVars[comm_nSyncVars] = v;
     comm_nSyncVars++;
 }
 
 /**
  * @brief Adds a monitored variable to the list, with getter/setter functions.
  * If the getter and setter are set to an actual function address (not NULL),
  * the variable will be READWRITE. If the getter is NULL but setter is not NULL,
  * the variable will be WRITEONLY. If the getter is not NULL the setter is NULL,
  * the variable will be READONLY. If the getter and setter are both NULL, the
  * variable will not be added to the variables list.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param type: the type of the variable.
  * @param size: the size of the variable [bytes].
  * @param getFunc: function pointer on the getter function.
  * @param setFunc: function pointer on the setter function.
  */
 void comm_monitorVarFunc(const char name[], comm_VarType type, uint8_t size,
                          void (*getFunc)(void), void (*setFunc)(void))
 {
     comm_SyncVar v;
     
     // Adding a variable to the list is not allowed if it has been locked.
     if(comm_varListLocked)
     {
         comm_SendDebugMessage("Warning: can't add the \"%s\" SyncVar, because "
                               "the list has already been locked.", name);
         return;
     }
     
     // Adding a variable to the list is not allowed if it is full.
     if(comm_nSyncVars >= N_SYNCVARS_MAX)
     {
         comm_SendDebugMessage("Warning: can't add the \"%s\" SyncVar, because "
                               "the list is full.", name);
         return;
     }
 
     // Trim the name if it is too long.
     if(strlen(name) > SYNCVAR_NAME_SIZE - 1)
     {
         memcpy(&v.name, &name, SYNCVAR_NAME_SIZE - 1);
         v.name[SYNCVAR_NAME_SIZE - 1] = '\0';
     }
     else
         strcpy(v.name, name);
 
     // Build the SyncVar.
     v.getFunc = getFunc;
     v.setFunc = setFunc;
     v.type = type;
     v.size = size;
     v.usesVarAddress = false;
     
     // Determine the variable access.
     if(getFunc != NULL && setFunc == NULL)
         v.access = READONLY;
     else if(getFunc == NULL && setFunc != NULL)
         v.access = WRITEONLY;
     else if(getFunc != NULL && setFunc != NULL)
         v.access = READWRITE;
     else
         return; // No function provided at all, ignoring var.
 
     // Add the SyncVar to the list.
     comm_syncVars[comm_nSyncVars] = v;
     comm_nSyncVars++;
 }
 
 /**
  * @brief Adds a monitored bool variable to the list, with its address.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param address a pointer to the variable to monitor.
  * @param access: the access rights to this variable (READONLY, WRITEONLY, or
  * READWRITE).
  */
 void comm_monitorBool(const char name[], bool *address,
                       comm_VarAccess access)
 {
     comm_monitorVar(name, address, BOOL, 1, access);
 }
 
 /**
  * @brief Adds a monitored uint8_t variable to the list, with its address.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param address a pointer to the variable to monitor.
  * @param access: the access rights to this variable (READONLY, WRITEONLY, or
  * READWRITE).
  */
 void comm_monitorUint8(const char name[], uint8_t *address,
                        comm_VarAccess access)
 {
     comm_monitorVar(name, address, UINT8, 1, access);
 }
 
 /**
  * @brief Adds a monitored int8_t variable to the list, with its address.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param address a pointer to the variable to monitor.
  * @param access: the access rights to this variable (READONLY, WRITEONLY, or
  * READWRITE).
  */
 void comm_monitorInt8(const char name[], int8_t *address,
                       comm_VarAccess access)
 {
     comm_monitorVar(name, address, INT8, 1, access);
 }
 
 /**
  * @brief Adds a monitored uint16_t variable to the list, with its address.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param address a pointer to the variable to monitor.
  * @param access: the access rights to this variable (READONLY, WRITEONLY, or
  * READWRITE).
  */
 void comm_monitorUint16(const char name[], uint16_t *address,
                         comm_VarAccess access)
 {
     comm_monitorVar(name, address, UINT16, 2, access);
 }
 
 /**
  * @brief Adds a monitored int16_t variable to the list, with its address.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param address a pointer to the variable to monitor.
  * @param access: the access rights to this variable (READONLY, WRITEONLY, or
  * READWRITE).
  */
 void comm_monitorInt16(const char name[], int16_t *address,
                        comm_VarAccess access)
 {
     comm_monitorVar(name, address, INT16, 2, access);
 }
 
 /**
  * @brief Adds a monitored uint32_t variable to the list, with its address.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param address a pointer to the variable to monitor.
  * @param access: the access rights to this variable (READONLY, WRITEONLY, or
  * READWRITE).
  */
 void comm_monitorUint32(const char name[], uint32_t *address,
                         comm_VarAccess access)
 {
     comm_monitorVar(name, address, UINT32, 4, access);
 }
 
 /**
  * @brief Adds a monitored int32_t variable to the list, with its address.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param address a pointer to the variable to monitor.
  * @param access: the access rights to this variable (READONLY, WRITEONLY, or
  * READWRITE).
  */
 void comm_monitorInt32(const char name[], int32_t *address,
                        comm_VarAccess access)
 {
     comm_monitorVar(name, address, INT32, 4, access);
 }
 
 /**
  * @brief Adds a monitored uint64_t variable to the list, with its address.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param address a pointer to the variable to monitor.
  * @param access: the access rights to this variable (READONLY, WRITEONLY, or
  * READWRITE).
  */
 void comm_monitorUint64(const char name[], uint64_t *address,
                         comm_VarAccess access)
 {
     comm_monitorVar(name, address, UINT64, 8, access);
 }
 
 /**
  * @brief Adds a monitored int64_t variable to the list, with its address.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param address a pointer to the variable to monitor.
  * @param access: the access rights to this variable (READONLY, WRITEONLY, or
  * READWRITE).
  */
 void comm_monitorInt64(const char name[], int64_t *address,
                        comm_VarAccess access)
 {
     comm_monitorVar(name, address, INT64, 8, access);
 }
 
 /**
  * @brief Adds a monitored float variable to the list, with its address.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param address a pointer to the variable to monitor.
  * @param access: the access rights to this variable (READONLY, WRITEONLY, or
  * READWRITE).
  */
 void comm_monitorFloat(const char name[], float *address,
                        comm_VarAccess access)
 {
     comm_monitorVar(name, address, FLOAT32, 4, access);
 }
 
 /**
  * @brief Adds a monitored double variable to the list, with its address.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param address a pointer to the variable to monitor.
  * @param access: the access rights to this variable (READONLY, WRITEONLY, or
  * READWRITE).
  */
 void comm_monitorDouble(const char name[], double *address,
                         comm_VarAccess access)
 {
     comm_monitorVar(name, address, FLOAT64, 8, access);
 }
 
 /**
  * @brief Adds a monitored bool variable to the list, with getter/setter.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param getFunc: function pointer on the getter function.
  * @param setFunc: function pointer on the setter function.
  */
 void comm_monitorBoolFunc(const char name[],
                           bool (*getFunc)(void), void (*setFunc)(bool))
 {
     comm_monitorVarFunc(name, BOOL, 1, (void (*)(void))getFunc, (void (*)(void))setFunc);
 }
 
 /**
  * @brief Adds a monitored uint8_t variable to the list, with getter/setter.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param getFunc: function pointer on the getter function.
  * @param setFunc: function pointer on the setter function.
  */
 void comm_monitorUint8Func(const char name[],
                            uint8_t (*getFunc)(void), void (*setFunc)(uint8_t))
 {
     comm_monitorVarFunc(name, UINT8, 1, (void (*)(void))getFunc, (void (*)(void))setFunc);
 }
 
 /**
  * @brief Adds a monitored int8_t variable to the list, with getter/setter.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param getFunc: function pointer on the getter function.
  * @param setFunc: function pointer on the setter function.
  */
 void comm_monitorInt8Func(const char name[],
                           int8_t (*getFunc)(void), void (*setFunc)(int8_t))
 {
     comm_monitorVarFunc(name, INT8, 1, (void (*)(void))getFunc, (void (*)(void))setFunc);
 }
 
 /**
  * @brief Adds a monitored uint16_t variable to the list, with getter/setter.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param getFunc: function pointer on the getter function.
  * @param setFunc: function pointer on the setter function.
  */
 void comm_monitorUint16Func(const char name[],
                             uint16_t (*getFunc)(void),
                             void (*setFunc)(uint16_t))
 {
     comm_monitorVarFunc(name, UINT16, 2, (void (*)(void))getFunc, (void (*)(void))setFunc);
 }
 
 /**
  * @brief Adds a monitored int16_t variable to the list, with getter/setter.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param getFunc: function pointer on the getter function.
  * @param setFunc: function pointer on the setter function.
  */
 void comm_monitorInt16Func(const char name[],
                            int16_t (*getFunc)(void), void (*setFunc)(int16_t))
 {
     comm_monitorVarFunc(name, INT16, 2, (void (*)(void))getFunc, (void (*)(void))setFunc);
 }
 
 /**
  * @brief Adds a monitored uint32_t variable to the list, with getter/setter.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param getFunc: function pointer on the getter function.
  * @param setFunc: function pointer on the setter function.
  */
 void comm_monitorUint32Func(const char name[],
                             uint32_t (*getFunc)(void),
                             void (*setFunc)(uint32_t))
 {
     comm_monitorVarFunc(name, UINT32, 4, (void (*)(void))getFunc, (void (*)(void))setFunc);
 }
 
 /**
  * @brief Adds a monitored int32_t variable to the list, with getter/setter.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param getFunc: function pointer on the getter function.
  * @param setFunc: function pointer on the setter function.
  */
 void comm_monitorInt32Func(const char name[],
                            int32_t (*getFunc)(void), void (*setFunc)(int32_t))
 {
     comm_monitorVarFunc(name, INT32, 4, (void (*)(void))getFunc, (void (*)(void))setFunc);
 }
 
 /**
  * @brief Adds a monitored uint64_t variable to the list, with getter/setter.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param getFunc: function pointer on the getter function.
  * @param setFunc: function pointer on the setter function.
  */
 void comm_monitorUint64Func(const char name[],
                             uint64_t (*getFunc)(void),
                             void (*setFunc)(uint64_t))
 {
     comm_monitorVarFunc(name, UINT64, 8, (void (*)(void))getFunc, (void (*)(void))setFunc);
 }
 
 /**
  * @brief Adds a monitored int64_t variable to the list, with getter/setter.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param getFunc: function pointer on the getter function.
  * @param setFunc: function pointer on the setter function.
  */
 void comm_monitorInt64Func(const char name[],
                            int64_t (*getFunc)(void), void (*setFunc)(int64_t))
 {
     comm_monitorVarFunc(name, INT64, 8, (void (*)(void))getFunc, (void (*)(void))setFunc);
 }
 
 /**
  * @brief Adds a monitored float variable to the list, with getter/setter.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param getFunc: function pointer on the getter function.
  * @param setFunc: function pointer on the setter function.
  */
 void comm_monitorFloatFunc(const char name[],
                            float (*getFunc)(void), void (*setFunc)(float))
 {
     comm_monitorVarFunc(name, FLOAT32, 4, (void (*)(void))getFunc, (void (*)(void))setFunc);
 }
 
 
 /**
  * @brief Adds a monitored double variable to the list, with getter/setter.
  * @param name: the description of the variable, as it should be displayed to
  * the user. It should also include the unit, if relevant.
  * @param getFunc: function pointer on the getter function.
  * @param setFunc: function pointer on the setter function.
  */
 void comm_monitorDoubleFunc(const char name[],
                             double (*getFunc)(void), void (*setFunc)(double))
 {
     comm_monitorVarFunc(name, FLOAT64, 8, (void (*)(void))getFunc, (void (*)(void))setFunc);
 }
 
 /**
  * @brief Locks the monitored variables, so it can be used.
  * After the call to this function, adding variables will not be possible
  * anymore. The PC will not be able to get the variables list until this
  * function is called.
  */
 void comm_LockSyncVarsList(void)
 {
     comm_varListLocked = true;
 }
 
 /**
  * @brief Generates and sends a packet describing the monitored variables.
  */
 void comm_SendVarsList(void)
 {
     int i;
     uint8_t *p;
     uint16_t buffLength = 1 + comm_nSyncVars * (SYNCVAR_NAME_SIZE + 1 + 1);
 
     p = &txBuffer[0];
 
     *p = comm_nSyncVars;
     p++;
 
     for(i=0; i<comm_nSyncVars; i++)
     {
         strcpy((char*)p, comm_syncVars[i].name);
         p += SYNCVAR_NAME_SIZE;
 
         *p = (uint8_t)comm_syncVars[i].type;
         p++;
 
         *p = (uint8_t)comm_syncVars[i].access;
         p++;
     }
 
     comm_SendPacket(STM_MESSAGE_VARS_LIST, txBuffer, buffLength);
 }
 
 /**
  * @brief Sends a debug message to the computer.
  * @param format format string.
  * @param ... variables to be printed in the format string.
  */
 void comm_SendDebugMessage(const char* format, ...)
 {
     uint16_t length;
     va_list args;
     
     va_start(args, format);
     
 	length = vsnprintf(comm_debugMessageBuffer, DEBUG_MESSAGE_BUFFER_SIZE,
                        format, args);
     
     comm_SendPacket(STM_MESSAGE_DEBUG_TEXT, (uint8_t*)comm_debugMessageBuffer,
                     length+1);
 
     va_end(args);
 }
 
diff --git a/Firmware/src/drivers/adc.c b/Firmware/src/drivers/adc.c
index e7c771b..c223448 100644
--- a/Firmware/src/drivers/adc.c
+++ b/Firmware/src/drivers/adc.c
@@ -1,217 +1,222 @@
 #include "adc.h"
 #include "../lib/basic_filter.h"
 #include "../lib/utils.h"
 
 volatile uint16_t adc_currentValuesBuffer[ADC_BUFFER_SIZE];
 bfilt_BasicFilter adc_currentFilter;
 float32_t adc_currentSensOffset = 0.0f;
 
 void adc_DmaInit(void);
 
 /**
   * @brief  Initialize the ADC converter (2 analog inputs + current sense).
   */
 void adc_Init(void)
 {
     ADC_InitTypeDef         ADC_InitStructure;
     ADC_CommonInitTypeDef   ADC_CommonInitStructure;
     GPIO_InitTypeDef        GPIO_InitStructure;
         
     adc_DmaInit();
 
     // Periph clock enable
     RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1|RCC_APB2Periph_ADC2, ENABLE);
     RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC3,ENABLE);
         
     // GPIO configuration
     GPIO_InitStructure.GPIO_Pin  = ADC_HALL_PIN;
     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
     GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
     GPIO_Init(ADC_HALL_PORT, &GPIO_InitStructure);
+    
+    GPIO_InitStructure.GPIO_Pin = ADC_ANIN1_PIN;
+    GPIO_Init(ADC_ANIN1_PORT, &GPIO_InitStructure);
+    
+    GPIO_InitStructure.GPIO_Pin = ADC_ANIN2_PIN;
+    GPIO_Init(ADC_ANIN2_PORT, &GPIO_InitStructure);
+    
+    GPIO_InitStructure.GPIO_Pin = ADC_ANIN3_PIN;
+    GPIO_Init(ADC_ANIN3_PORT, &GPIO_InitStructure);
+    
+    GPIO_InitStructure.GPIO_Pin = ADC_ANIN4_PIN;
+    GPIO_Init(ADC_ANIN4_PORT, &GPIO_InitStructure);
 
     GPIO_InitStructure.GPIO_Pin = ADC_CURRENT_SENSE_PIN;
     GPIO_Init(ADC_CURRENT_SENSE_PORT, &GPIO_InitStructure);
 
     // ADC Common configuration
     ADC_DeInit();
     ADC_CommonInitStructure.ADC_Mode             = ADC_Mode_Independent;
     ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles; // Useless here (only used in dual or triple interleaved modes).
     ADC_CommonInitStructure.ADC_DMAAccessMode    = ADC_DMAAccessMode_Disabled;
     ADC_CommonInitStructure.ADC_Prescaler        = ADC_Prescaler_Div4;
     ADC_CommonInit(&ADC_CommonInitStructure);
 
-    // ADC regular channel configuration
+    // ADC 1 configuration for general purpose.
     ADC_InitStructure.ADC_Resolution           = ADC_Resolution_12b;
     ADC_InitStructure.ADC_ScanConvMode         = DISABLE;
     ADC_InitStructure.ADC_ContinuousConvMode   = DISABLE;
     ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
     ADC_InitStructure.ADC_ExternalTrigConv     = 0;
     ADC_InitStructure.ADC_DataAlign            = ADC_DataAlign_Right;
     ADC_InitStructure.ADC_NbrOfConversion      = 1;
     ADC_Init(ADC1, &ADC_InitStructure);
+    
+    ADC_RegularChannelConfig(ADC1, ADC_HALL_CHANNEL, 1, ADC_SampleTime_56Cycles);
+    ADC_Cmd(ADC1, ENABLE);
+    ADC_SoftwareStartConv(ADC1);
 
-    ADC_Init(ADC2, &ADC_InitStructure); 
-//    ADC_InitStructure.ADC_ExternalTrigConvEdge        = ADC_ExternalTrigConvEdge_Rising;
-//      ADC_InitStructure.ADC_ExternalTrigConv              = ADC_ExternalTrigConv_T8_TRGO;
-//    ADC_InitStructure.ADC_ContinuousConvMode          = DISABLE;
+    // ADC 3 configuration for motor current sensing.
     // Synchronous sampling with the PWM replaced by a high-frequency sampling at ~300kHz (over-sampling), because of the commutation noise of the current measuring amplifier at ~120kHz.
     ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;       
     ADC_Init(ADC3, &ADC_InitStructure);   
 
-    ADC_RegularChannelConfig(ADC1, ADC_HALL_CHANNEL, 1, ADC_SampleTime_56Cycles);
-    ADC_Cmd(ADC1, ENABLE);
-    ADC_SoftwareStartConv(ADC1);
-    
     ADC_RegularChannelConfig(ADC3, ADC_CURRENT_SENSE_CHANNEL, 1, ADC_SampleTime_28Cycles);
     ADC_DMARequestAfterLastTransferCmd(ADC3, ENABLE);
     ADC_DMACmd(ADC3, ENABLE);
     ADC_Cmd(ADC3, ENABLE);
     ADC_SoftwareStartConv(ADC3);
 
     // Setup the filter of the ADC current samples over time.
     bfilt_Init(&adc_currentFilter, 0.05f, 0.0f);
 }
 
 /**
   * @brief  Setup the DMA that copies the current ADC samples to the RAM.
   */
 void adc_DmaInit(void)
 {
     DMA_InitTypeDef DMA_InitStructure;
 
     RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2, ENABLE);
     
     DMA_InitStructure.DMA_Memory0BaseAddr    = (uint32_t)&adc_currentValuesBuffer;
     DMA_InitStructure.DMA_DIR                = DMA_DIR_PeripheralToMemory;
     DMA_InitStructure.DMA_BufferSize         = ADC_BUFFER_SIZE;
     DMA_InitStructure.DMA_PeripheralInc      = DMA_PeripheralInc_Disable;
     DMA_InitStructure.DMA_MemoryInc          = DMA_MemoryInc_Enable;
     DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
     DMA_InitStructure.DMA_MemoryDataSize     = DMA_MemoryDataSize_HalfWord;
     DMA_InitStructure.DMA_Mode               = DMA_Mode_Circular;
     DMA_InitStructure.DMA_Priority           = DMA_Priority_High;
     DMA_InitStructure.DMA_FIFOMode           = DMA_FIFOMode_Enable;
     DMA_InitStructure.DMA_FIFOThreshold      = DMA_FIFOThreshold_HalfFull;
     DMA_InitStructure.DMA_MemoryBurst        = DMA_MemoryBurst_Single;
     DMA_InitStructure.DMA_PeripheralBurst    = DMA_PeripheralBurst_Single;
 
     DMA_InitStructure.DMA_Channel            = DMA_Channel_2;
     DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&ADC3->DR;
     DMA_Init(DMA2_Stream1, &DMA_InitStructure);
     DMA_Cmd(DMA2_Stream1, ENABLE);
 }
 
 /**
   * @brief  Compute the current sense offset.
   * @note   Run before enabling current regulation.
   */
 void adc_CalibrateCurrentSens(void)
 {
     float32_t offset;
     int32_t i=0;
     
     for(i=0; i<ADC_CALIB_N_SAMPLES; i++)
     {
         offset += adc_GetCurrent() / (float32_t)ADC_CALIB_N_SAMPLES;
     
         utils_DelayUs(400);
     }
         
     adc_currentSensOffset = offset;
 }
 
 /**
   * @brief  Compute the current sense offset.
   * @retval The measured current in [mA].
   */
 float32_t adc_GetCurrent(void)
 {
     int32_t motorCurrentSum;
     float32_t motorCurrentMean;
 
     int32_t i;
     
     // Compute the average of all the ADC values in the buffer.
     motorCurrentSum = 0; // [ADC raw value].
 
     for(i=0; i<ADC_BUFFER_SIZE; i++)
         motorCurrentSum += (int32_t)(adc_currentValuesBuffer[i]);
     
     motorCurrentMean = (float32_t)motorCurrentSum / (float32_t)ADC_BUFFER_SIZE;
 
     // Convert from ADC increments to a current in [A].
     motorCurrentMean *= ADC_CURRENT_SCALE;
     
     // Add the offset obtained during the sense resistor calibration.
     motorCurrentMean -= (float32_t) adc_currentSensOffset;
     
     // Use low-pass filtering to reduce the noise.
     bfilt_Step(&adc_currentFilter, motorCurrentMean);
     
     //return motorCurrentMean;
     return adc_currentFilter.filteredValue;
 }
 
 /**
-  * @brief  Start the ADC conversion of the selected channel.
+  * @brief Start the ADC conversion of the selected channel.
+  * @param channel: the ADC channel to acquire.
   */
 void adc_StartConversion(AdcChannel channel)
 {
-    if(channel == ANIN1)
-        ADC1->CR2 |= (uint32_t)ADC_CR2_SWSTART;
+    ADC_Cmd(ADC1, DISABLE);
+    ADC_RegularChannelConfig(ADC1, channel, 1, ADC_SampleTime_56Cycles);
+    ADC_Cmd(ADC1, ENABLE);
+    utils_DelayUs(1);
+    ADC_SoftwareStartConv(ADC1);
 }
 
 /**
-  * @brief  Get the ADC conversion status of the selected channel.
+  * @brief Gets the ADC conversion status of the selected channel.
   * @retval 1 if the conversion is finished, 0 otherwise.
   */
-uint8_t adc_ConversionIsFinished(AdcChannel channel)
+bool adc_ConversionIsFinished(void)
 {
-    if(channel == ANIN1)
-        return (ADC1->SR & ADC_SR_EOC) != 0;
-    else
-        return 0;
+    return (ADC1->SR & ADC_SR_EOC) != 0;
 }
 
 /**
-  * @brief  Get the voltage measured by the selected ADC channel.
-  * @param  channel: the channel of the ADC.
-  * @return the measured voltage, in [V], or 0.0f if the channel is invalid.
-  * @note   make sure that the conversion is finished before calling.
+  * @brief Gets the voltage measured by the selected ADC channel.
+  * @return the measured voltage [V].
+  * @note make sure that the conversion is finished before calling.
   */
-float32_t adc_GetConversionResult(AdcChannel channel)
+float32_t adc_GetConversionResult(void)
 {
     float32_t adcRawVal, voltage;
     
-    if(channel == ANIN1)
-        adcRawVal = (float32_t)ADC1->DR;
-    else
-        adcRawVal = 0.0f;
+    adcRawVal = (float32_t)ADC1->DR;
         
     voltage = (adcRawVal / ADC_MAX) * ADC_REF_VOLTAGE;
  
     return voltage;
 }
 
 /**
-  * @brief  Get the voltage measured by the selected ADC channel.
-  * @param  channel: the channel of the ADC.
-  * @return the measured voltage, in [V], or 0.0f if the channel is invalid.
-  * @note   make sure that the conversion is finished before calling.
+  * @brief Gets the voltage measured by the selected ADC channel.
+  * @param channel: the channel of the ADC.
+  * @return the measured voltage [V].
   */
 float32_t adc_GetChannelVoltage(AdcChannel channel)
 {
     int32_t conversionTime = 0;
     
     adc_StartConversion(channel);
     
-    while(!adc_ConversionIsFinished(channel))
+    while(!adc_ConversionIsFinished())
     {
         if(conversionTime < ADC_MAX_CONVERSION_TIME)
             conversionTime++;
         else
             break;
     }
 
-    return adc_GetConversionResult(channel);
+    return adc_GetConversionResult();
 }   
diff --git a/Firmware/src/drivers/adc.h b/Firmware/src/drivers/adc.h
index 90dc97e..0d33570 100644
--- a/Firmware/src/drivers/adc.h
+++ b/Firmware/src/drivers/adc.h
@@ -1,67 +1,82 @@
 #ifndef __ADC_H
 #define __ADC_H
 
 #include "../main.h"
 
 #define ADC_HALL_PIN GPIO_Pin_1
 #define ADC_HALL_PORT GPIOB
 #define ADC_HALL_CHANNEL ADC_Channel_9
 
+#define ADC_ANIN1_PIN GPIO_Pin_6
+#define ADC_ANIN1_PORT GPIOA
+#define ADC_ANIN1_CHANNEL ADC_Channel_6
+
+#define ADC_ANIN2_PIN GPIO_Pin_7
+#define ADC_ANIN2_PORT GPIOA
+#define ADC_ANIN2_CHANNEL ADC_Channel_7
+
+#define ADC_ANIN3_PIN GPIO_Pin_4
+#define ADC_ANIN3_PORT GPIOC
+#define ADC_ANIN3_CHANNEL ADC_Channel_14
+
+#define ADC_ANIN4_PIN GPIO_Pin_5
+#define ADC_ANIN4_PORT GPIOC
+#define ADC_ANIN4_CHANNEL ADC_Channel_15
+
 #define ADC_CURRENT_SENSE_PIN GPIO_Pin_3
 #define ADC_CURRENT_SENSE_PORT GPIOA
 #define ADC_CURRENT_SENSE_CHANNEL ADC_Channel_3
 
 #define ADC_MAX 4095.0f // Maximum value of the ADC register (2^12 - 1).
 #define ADC_MAX_CONVERSION_TIME 100 // To avoid locking if the conversion was not started properly.
 #define ADC_BUFFER_SIZE  33 // Fadc =~300kHz -> TE_ADC = 3.33us -> Average over 32 sample => usable bandwidth <10kHz
 #define ADC_CURRENT_SCALE (ADC_REF_VOLTAGE / (CURRENT_SHUNT_RESISTANCE * CURRENT_SHUNT_AMPLIFIER_GAIN * ADC_MAX)) // Scale between ADC increment and current [A/incr].
 #define ADC_CALIB_N_SAMPLES 1000
 
 #define ADC_REF_VOLTAGE 2.5f // [V].
 
 /** @defgroup ADC Driver / ADC
   * @brief Driver for the analog-to-digital peripheral of the STM32.
   *
   * An analog-to-digital converter (ADC) is used to measure the voltage of one
-  * or several microcontroller pins. In the HRI board, there are two pins that
-  * can be used. An intermediate electronic stage allows to modify the input
-  * range from +-33mV to +-10V, in order to get the best sensitivity and range
-  * for a wide range of analog sensors. Note that the input connector
-  * (J2-ANALOG IN) provides differential inputs, so one pair of pins per
-  * channel.
+  * or several microcontroller analog pins.
   *
   * In addition, there is an additional channel to measure the current going
   * through the motor (useful for current regulation).
   *
   * Call adc_Init() first, in the initialization code. Then, call
   * adc_GetChannelVoltage() every time you need the voltage.
   *
   * To measure accurately the motor current, a calibration has to be performed
   * first. Call dc_CalibrateCurrentSens() in the main(), when the current
   * regulation is disabled (see H-bridge documentation). Then, call
   * adc_GetCurrent() every time it is needed. This function returns the last
   * value transfered by the DMA, so there is no conversion delay when calling
   * this function.
   *
   * @addtogroup ADC
   * @{
   */
 
 /**
   * @brief Enum that corresponds to the two ADC input channels of the board.
   */
 typedef enum
 {
-    ANIN1=1 ///< Channel 1, pins ANIN1+ (3) and ANIN1- (4) of the connector J2.
+    ADC_CHANNEL_9 = 9, ///< Pin HALL_INPUT (5) of the connector J9 (Hall position sensor).
+    ADC_CHANNEL_6 = 6, ///< Pin AN_IN1 (29 & 30) of the connector J12 (analog extension).
+    ADC_CHANNEL_7 = 7, ///< Pin AN_IN2 (33 & 34) of the connector J12 (analog extension).
+    ADC_CHANNEL_14 = 14, ///< Pin AN_IN3 (37 & 38) of the connector J12 (analog extension).
+    ADC_CHANNEL_15 = 15, ///< Pin AN_IN4 (41 & 42) of the connector J12 (analog extension).
 } AdcChannel;
 
 void adc_Init(void);
 void adc_CalibrateCurrentSens(void);
 float32_t adc_GetCurrent(void); // [mA].
 float32_t adc_GetChannelVoltage(AdcChannel channel);
 
 /**
   * @}
   */
 
 #endif
diff --git a/Firmware/src/drivers/strain_gauge.c b/Firmware/src/drivers/strain_gauge.c
deleted file mode 100644
index f718a85..0000000
--- a/Firmware/src/drivers/strain_gauge.c
+++ /dev/null
@@ -1,33 +0,0 @@
-#include "strain_gauge.h"
-#include "dac.h"
-#include "../lib/basic_filter.h"
-
-AdcChannel sg_channel;
-bfilt_BasicFilter sg_filt;
-
-/**
-  * @brief  Initialize the strain gauge driver.
-  * @param  channel: the ADC channel the strain gauge is wired to (0 or 1).
-  */
-void sg_Init(AdcChannel channel)
-{
-    sg_channel = channel;
-    
-    dac_SetVoltage2(2.4f);
-    
-    bfilt_Init(&sg_filt, 0.1f, 0.0f);
-}
-
-/**
-  * @brief  Return the measured force on the paddle.
-  * @retval The force applied to the top of the paddle [N].
-  * @warning this function is not implemented yet, and returns actually the raw
-  * voltage from the sensor, instead of the ready-to-use force.
-  */
-float32_t sg_Get(void)
-{
-    float32_t voltage = adc_GetChannelVoltage(sg_channel);
-    
-    // TODO: the voltage to torque conversion is not implemented yet.
-    return bfilt_Step(&sg_filt, voltage);
-}
diff --git a/Firmware/src/drivers/strain_gauge.h b/Firmware/src/drivers/strain_gauge.h
deleted file mode 100644
index 0a50b83..0000000
--- a/Firmware/src/drivers/strain_gauge.h
+++ /dev/null
@@ -1,34 +0,0 @@
-#ifndef __STRAIN_GAUGE_H
-#define __STRAIN_GAUGE_H
-
-#include "../main.h"
-#include "adc.h"
-
-/** @defgroup StrainGauge Driver / Strain gauge
-  * @brief Driver for a strain gauge.
-  *
-  * This driver uses an ADC input, ANIN1 or ANIN2 (see ADC).
-  * To use this, connect wire the sensor as this:
-  * * sensor + -> +5V (pin 1 or 5 of J2).
-  * * sensor - -> GND (pin 2 or 6 of J2).
-  * * sensor sense -> ANINX+ (pin 3 or 7 of J2).
-  * * 2.5V (with a voltage divider between 5V and GND) -> ANINX- (pin 4 or 8 of
-  * J2).
-  *
-  * Set the sensitivity switches to +-33mV.
-  *
-  * Call sg_Init() first in the initialization code. Then, call sg_Get() to
-  * get the force.
-  *
-  * @addtogroup StrainGauge
-  * @{
-  */
-
-void sg_Init(AdcChannel channel);
-float32_t sg_Get(void);
-
-/**
-  * @}
-  */
-
-#endif
diff --git a/Firmware/src/drivers/tachometer.c b/Firmware/src/drivers/tachometer.c
deleted file mode 100644
index 6ddc80d..0000000
--- a/Firmware/src/drivers/tachometer.c
+++ /dev/null
@@ -1,24 +0,0 @@
-#include "tachometer.h"
-
-AdcChannel tac_channel;
-
-/**
-  * @brief  Initialize the tachometer driver.
-  * @param  channel: the ADC channel the tachometer is wired to (0 or 1).
-  */
-void tac_Init(AdcChannel channel)
-{
-    tac_channel = channel;
-}
-
-/**
-  * @brief  Return the measured paddle angular speed.
-  * @retval The paddle angular speed [deg/s].
-  */
-float32_t tac_Get(void)
-{
-    float32_t voltage = adc_GetChannelVoltage(tac_channel);
-    
-    // Conversion from voltage to angular speed.
-    return voltage * TAC_VOLTAGE_TO_RPM;
-}
diff --git a/Firmware/src/drivers/tachometer.h b/Firmware/src/drivers/tachometer.h
deleted file mode 100644
index 6fe9c98..0000000
--- a/Firmware/src/drivers/tachometer.h
+++ /dev/null
@@ -1,34 +0,0 @@
-#ifndef __TACHOMETER_H
-#define __TACHOMETER_H
-
-#include "../main.h"
-#include "adc.h"
-
-#define TAC_RPM_TO_VOLTAGE 0.00052f // According to the Maxon DC Tacho DCT 22 datasheet [V/RPM].
-#define TAC_VOLTAGE_TO_RPM (1/TAC_RPM_TO_VOLTAGE) // [RPM/V].
-
-/** @defgroup Tachometer Driver / Tachometer
-  * @brief Driver for a tachometer.
-  *
-  * This driver uses an ADC input, ANIN1 or ANIN2 (see ADC).
-  * To use this, connect wire the sensor as this:
-  * * tacho 1 -> ANINX+ (pin 3 or 7 of J2).
-  * * tacho 2 -> ANINX- (pin 4 or 8 of J2).
-  *
-  * Set the sensitivity switches to +-2V.
-  *
-  * Call tac_Init() first in the initialization code. Then, call tac_Get() to
-  * get the motor speed.
-  *
-  * @addtogroup Tachometer
-  * @{
-  */
-
-void tac_Init(AdcChannel channel);
-float32_t tac_Get(void);
-
-/**
-  * @}
-  */
-
-#endif
diff --git a/Firmware/src/main.c b/Firmware/src/main.c
index 57c4556..93b244d 100644
--- a/Firmware/src/main.c
+++ b/Firmware/src/main.c
@@ -1,77 +1,73 @@
 #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(); // 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);
+    // Init the Hall position sensor.
+    hall_Init(ADC_CHANNEL_9);
     
     // 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();
 	}
 }