diff --git a/touchscreengames/Core/Src/main.c b/touchscreengames/Core/Src/main.c
index e9247c5..3f5f67b 100644
--- a/touchscreengames/Core/Src/main.c
+++ b/touchscreengames/Core/Src/main.c
@@ -59,35 +59,26 @@ UART_HandleTypeDef huart6;
 
 /* Definitions for control */
 osThreadId_t controlHandle;
-const osThreadAttr_t control_attributes = {
-  .name = "control",
-  .stack_size = 128 * 4,
-  .priority = (osPriority_t) osPriorityNormal,
-};
+const osThreadAttr_t control_attributes = { .name = "control", .stack_size = 512
+		* 4, .priority = (osPriority_t) osPriorityBelowNormal, };
 /* Definitions for draw */
 osThreadId_t drawHandle;
-const osThreadAttr_t draw_attributes = {
-  .name = "draw",
-  .stack_size = 512 * 4,
-  .priority = (osPriority_t) osPriorityLow,
-};
+const osThreadAttr_t draw_attributes = { .name = "draw", .stack_size = 512 * 4,
+		.priority = (osPriority_t) osPriorityLow, };
 /* Definitions for menu */
 osThreadId_t menuHandle;
-const osThreadAttr_t menu_attributes = {
-  .name = "menu",
-  .stack_size = 256 * 4,
-  .priority = (osPriority_t) osPriorityLow,
-};
+const osThreadAttr_t menu_attributes = { .name = "menu", .stack_size = 256 * 4,
+		.priority = (osPriority_t) osPriorityLow, };
+/* Definitions for balance */
+osThreadId_t balanceHandle;
+const osThreadAttr_t balance_attributes = { .name = "balance", .stack_size = 128
+		* 4, .priority = (osPriority_t) osPriorityLow7, };
 /* Definitions for presses */
 osMessageQueueId_t pressesHandle;
-const osMessageQueueAttr_t presses_attributes = {
-  .name = "presses"
-};
+const osMessageQueueAttr_t presses_attributes = { .name = "presses" };
 /* Definitions for display */
 osMutexId_t displayHandle;
-const osMutexAttr_t display_attributes = {
-  .name = "display"
-};
+const osMutexAttr_t display_attributes = { .name = "display" };
 /* USER CODE BEGIN PV */
 
 /* USER CODE END PV */
@@ -105,6 +96,7 @@ static void MX_I2C1_Init(void);
 void start_control(void *argument);
 void snakegame(void *argument);
 void handle_menu(void *argument);
+void start_balance(void *argument);
 
 /* USER CODE BEGIN PFP */
 
@@ -127,6 +119,11 @@ int redraw_menu_pending;
 #define GRID_X 2
 #define GRID_Y 3
 uint8_t menu_status[GRID_X][GRID_Y] = { 0 };
+
+struct motorstruct {
+	float wr, ur;
+	float wl, ul;
+} motor;
 void process_line(const char *line) {
 	if (strncmp(line, "ABS:", 4) == 0) {
 		char axis[32];
@@ -134,7 +131,7 @@ void process_line(const char *line) {
 		if (sscanf(line, "ABS:%31[^:]:%d:", axis, &value) == 2) {
 			// Handle axis input
 			if (strcmp(axis, "ABS_X") == 0) {
-
+				motor.ul = 2 * 3.1415 / 32000.1 * value;
 				// Do something with X axis
 
 			} else if (strcmp(axis, "ABS_Y") == 0) {
@@ -152,12 +149,19 @@ void process_line(const char *line) {
 			if (state) {
 				char dir;
 				dir = key[0];
-				osStatus_t status = osMessageQueuePut(pressesHandle, &dir, 0,
-						0);
+				if (dir == 'L' || dir == 'R' || dir == 'D' || dir == 'U'
+						|| dir == 'A') {
+					if (dir == 'U') {
+						motor.ul = -1 * motor.ul;
+					}
+					osStatus_t status = osMessageQueuePut(pressesHandle, &dir,
+							0, 0);
 
-				if (status != osOK) {
-					// Optional: Handle error
+					if (status != osOK) {
+						// Optional: Handle error
+					}
 				}
+
 			}
 
 			if (key[0] == 'B' && state == 1) { // B goes to the menu
@@ -194,7 +198,7 @@ void UART_CALLBACK() {
 #define TIM4_ARR_VALUE 1024
 uint32_t TIM4_CurrentCount;
 uint32_t TIM4_PreviousCount = 0;
-#define TS 0.01
+#define TS 0.005
 #define M_PI 3.1415
 float encoder_TIM4_speed_rad() {
 	int32_t TIM4_DiffCount;
@@ -218,6 +222,31 @@ float encoder_TIM4_speed_rad() {
 	TIM4_PreviousCount = TIM4_CurrentCount;
 	return (float) TIM4_DiffCount / (TIM4_ARR_VALUE * TS) * 2 * M_PI;
 }
+#define TIM1_ARR_VALUE 1024
+uint32_t TIM1_CurrentCount;
+uint32_t TIM1_PreviousCount = 0;
+float encoder_TIM1_speed_rad() {
+	int32_t TIM1_DiffCount;
+	TIM1_CurrentCount = __HAL_TIM_GET_COUNTER(&htim1);
+	/* evaluate increment of TIM3 counter from previous count */
+	if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&htim1)) {
+		/* check for counter underflow */
+		if (TIM1_CurrentCount <= TIM1_PreviousCount)
+			TIM1_DiffCount = TIM1_CurrentCount - TIM1_PreviousCount;
+		else
+			TIM1_DiffCount = -((TIM1_ARR_VALUE + 1) - TIM1_CurrentCount)
+					- TIM1_PreviousCount;
+	} else {
+		/* check for counter overflow */
+		if (TIM1_CurrentCount >= TIM1_PreviousCount)
+			TIM1_DiffCount = TIM1_CurrentCount - TIM1_PreviousCount;
+		else
+			TIM1_DiffCount = ((TIM1_ARR_VALUE + 1) - TIM1_PreviousCount)
+					+ TIM1_CurrentCount;
+	}
+	TIM1_PreviousCount = TIM1_CurrentCount;
+	return (float) TIM1_DiffCount / (TIM1_ARR_VALUE * TS) * 2 * M_PI;
+}
 #define TIM5_ARR_VALUE 4000
 void set_pwm(float duty, char motor, char mode) {
 	// Limit the duty cycle to ±70%
@@ -248,6 +277,7 @@ void set_pwm(float duty, char motor, char mode) {
 	}
 
 	if (motor == 'l') {
+
 		if (duty >= 0) { // rotate forward
 			if (mode == 'c') {
 				__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_3,
@@ -274,86 +304,91 @@ void set_pwm(float duty, char motor, char mode) {
 /* USER CODE END 0 */
 
 /**
-  * @brief  The application entry point.
-  * @retval int
-  */
-int main(void)
-{
+ * @brief  The application entry point.
+ * @retval int
+ */
+int main(void) {
 
-  /* USER CODE BEGIN 1 */
+	/* USER CODE BEGIN 1 */
 
-  /* USER CODE END 1 */
+	/* USER CODE END 1 */
 
-  /* MCU Configuration--------------------------------------------------------*/
+	/* MCU Configuration--------------------------------------------------------*/
 
-  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
-  HAL_Init();
+	/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+	HAL_Init();
 
-  /* USER CODE BEGIN Init */
+	/* USER CODE BEGIN Init */
 
-  /* USER CODE END Init */
+	/* USER CODE END Init */
 
-  /* Configure the system clock */
-  SystemClock_Config();
+	/* Configure the system clock */
+	SystemClock_Config();
 
-  /* USER CODE BEGIN SysInit */
+	/* USER CODE BEGIN SysInit */
 
-  /* USER CODE END SysInit */
+	/* USER CODE END SysInit */
 
-  /* Initialize all configured peripherals */
-  MX_GPIO_Init();
-  MX_DMA_Init();
-  MX_SPI1_Init();
-  MX_TIM1_Init();
-  MX_TIM4_Init();
-  MX_TIM5_Init();
-  MX_USART6_UART_Init();
-  MX_I2C1_Init();
-  /* USER CODE BEGIN 2 */
+	/* Initialize all configured peripherals */
+
+
+	MX_GPIO_Init();
+	MX_DMA_Init();
+	MX_SPI1_Init();
+	MX_TIM1_Init();
+	MX_TIM4_Init();
+	MX_TIM5_Init();
+	MX_USART6_UART_Init();
+	MX_I2C1_Init();
+
+	/* USER CODE BEGIN 2 */
 	ILI9341_Init();
 	ILI9341_SetRotation(SCREEN_HORIZONTAL_1);
 	//ILI9341_FillScreen(WHITE);
 	//void XPT2046_Init();
 	//Flash_Write_HighScore(100);
-  /* USER CODE END 2 */
+	/* USER CODE END 2 */
 
-  /* Init scheduler */
-  osKernelInitialize();
-  /* Create the mutex(es) */
-  /* creation of display */
-  displayHandle = osMutexNew(&display_attributes);
+	/* Init scheduler */
+	osKernelInitialize();
+	/* Create the mutex(es) */
+	/* creation of display */
+	displayHandle = osMutexNew(&display_attributes);
 
-  /* USER CODE BEGIN RTOS_MUTEX */
+	/* USER CODE BEGIN RTOS_MUTEX */
 	/* add mutexes, ... */
-  /* USER CODE END RTOS_MUTEX */
+	/* USER CODE END RTOS_MUTEX */
 
-  /* USER CODE BEGIN RTOS_SEMAPHORES */
+	/* USER CODE BEGIN RTOS_SEMAPHORES */
 	/* add semaphores, ... */
-  /* USER CODE END RTOS_SEMAPHORES */
+	/* USER CODE END RTOS_SEMAPHORES */
 
-  /* USER CODE BEGIN RTOS_TIMERS */
+	/* USER CODE BEGIN RTOS_TIMERS */
 	/* start timers, add new ones, ... */
-  /* USER CODE END RTOS_TIMERS */
+	/* USER CODE END RTOS_TIMERS */
 
-  /* Create the queue(s) */
-  /* creation of presses */
-  pressesHandle = osMessageQueueNew (16, sizeof(char), &presses_attributes);
+	/* Create the queue(s) */
+	/* creation of presses */
+	pressesHandle = osMessageQueueNew(16, sizeof(char), &presses_attributes);
 
-  /* USER CODE BEGIN RTOS_QUEUES */
+	/* USER CODE BEGIN RTOS_QUEUES */
 	/* add queues, ... */
-  /* USER CODE END RTOS_QUEUES */
+	/* USER CODE END RTOS_QUEUES */
 
-  /* Create the thread(s) */
-  /* creation of control */
-  controlHandle = osThreadNew(start_control, NULL, &control_attributes);
+	/* Create the thread(s) */
+	/* creation of control */
+	controlHandle = osThreadNew(start_control, NULL, &control_attributes);
 
-  /* creation of draw */
-  drawHandle = osThreadNew(snakegame, NULL, &draw_attributes);
+	/* creation of draw */
+	drawHandle = osThreadNew(snakegame, NULL, &draw_attributes);
 
-  /* creation of menu */
-  menuHandle = osThreadNew(handle_menu, NULL, &menu_attributes);
+	/* creation of menu */
+	menuHandle = osThreadNew(handle_menu, NULL, &menu_attributes);
 
-  /* USER CODE BEGIN RTOS_THREADS */
+	/* creation of balance */
+	balanceHandle = osThreadNew(start_balance, NULL, &balance_attributes);
+
+	/* USER CODE BEGIN RTOS_THREADS */
 	/* add threads, ... */
 
 	char dir;
@@ -365,19 +400,19 @@ int main(void)
 //if (dir == 'R')
 //reactiongameHandle = osThreadNew(startreactiongame, NULL,
 //	&reactiongame_attributes);
-  /* USER CODE END RTOS_THREADS */
+	/* USER CODE END RTOS_THREADS */
 
-  /* USER CODE BEGIN RTOS_EVENTS */
+	/* USER CODE BEGIN RTOS_EVENTS */
 	/* add events, ... */
-  /* USER CODE END RTOS_EVENTS */
+	/* USER CODE END RTOS_EVENTS */
 
-  /* Start scheduler */
-  osKernelStart();
+	/* Start scheduler */
+	osKernelStart();
 
-  /* We should never get here as control is now taken by the scheduler */
+	/* We should never get here as control is now taken by the scheduler */
 
-  /* Infinite loop */
-  /* USER CODE BEGIN WHILE */
+	/* Infinite loop */
+	/* USER CODE BEGIN WHILE */
 
 //int a[4] = { ILI9341_GREEN, ILI9341_WHITE, ILI9341_BLACK, ILI9341_BLUE };
 	int cnt;
@@ -390,284 +425,277 @@ int main(void)
 
 	while (1) {
 
-    /* USER CODE END WHILE */
+		/* USER CODE END WHILE */
 
-    /* USER CODE BEGIN 3 */
+		/* USER CODE BEGIN 3 */
 		float tempspeed;
-		tempspeed = encoder_TIM4_speed_rad();
+		//tempspeed = encoder_TIM4_speed_rad();
 		HAL_Delay(10);
 
 	}
-  /* USER CODE END 3 */
+	/* USER CODE END 3 */
 }
 
 /**
-  * @brief System Clock Configuration
-  * @retval None
-  */
-void SystemClock_Config(void)
-{
-  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
-  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+ * @brief System Clock Configuration
+ * @retval None
+ */
+void SystemClock_Config(void) {
+	RCC_OscInitTypeDef RCC_OscInitStruct = { 0 };
+	RCC_ClkInitTypeDef RCC_ClkInitStruct = { 0 };
 
-  /** Configure the main internal regulator output voltage
-  */
-  __HAL_RCC_PWR_CLK_ENABLE();
-  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);
+	/** Configure the main internal regulator output voltage
+	 */
+	__HAL_RCC_PWR_CLK_ENABLE();
+	__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);
 
-  /** Initializes the RCC Oscillators according to the specified parameters
-  * in the RCC_OscInitTypeDef structure.
-  */
-  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
-  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
-  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
-  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
-  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
-  {
-    Error_Handler();
-  }
+	/** Initializes the RCC Oscillators according to the specified parameters
+	 * in the RCC_OscInitTypeDef structure.
+	 */
+	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
+	RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+	RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
+	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
+	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
+		Error_Handler();
+	}
 
-  /** Initializes the CPU, AHB and APB buses clocks
-  */
-  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
-                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
-  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
-  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
-  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
-  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+	/** Initializes the CPU, AHB and APB buses clocks
+	 */
+	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
+			| RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
+	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
+	RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+	RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
+	RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
 
-  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
-  {
-    Error_Handler();
-  }
+	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
+		Error_Handler();
+	}
 }
 
 /**
-  * @brief I2C1 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_I2C1_Init(void)
-{
+ * @brief I2C1 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_I2C1_Init(void) {
 
-  /* USER CODE BEGIN I2C1_Init 0 */
+	/* USER CODE BEGIN I2C1_Init 0 */
+	//HAL_RCC_I2C1_FORCE_RESET();
+	HAL_Delay(10);
+	//HAL_RCC_I2C1_RELEASE_RESET();
 
-  /* USER CODE END I2C1_Init 0 */
+	//HAL_I2C_Init(&hi2c1);
+	/* USER CODE END I2C1_Init 0 */
 
-  /* USER CODE BEGIN I2C1_Init 1 */
+	/* USER CODE BEGIN I2C1_Init 1 */
 
-  /* USER CODE END I2C1_Init 1 */
-  hi2c1.Instance = I2C1;
-  hi2c1.Init.ClockSpeed = 100000;
-  hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
-  hi2c1.Init.OwnAddress1 = 0;
-  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
-  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
-  hi2c1.Init.OwnAddress2 = 0;
-  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
-  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
-  if (HAL_I2C_Init(&hi2c1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN I2C1_Init 2 */
-
-  /* USER CODE END I2C1_Init 2 */
+	/* USER CODE END I2C1_Init 1 */
+	hi2c1.Instance = I2C1;
+	hi2c1.Init.ClockSpeed = 100000;
+	hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
+	hi2c1.Init.OwnAddress1 = 0;
+	hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
+	hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
+	hi2c1.Init.OwnAddress2 = 0;
+	hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
+	hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
+	if (HAL_I2C_Init(&hi2c1) != HAL_OK) {
+		Error_Handler();
+	}
+	/* USER CODE BEGIN I2C1_Init 2 */
+	HAL_I2C_DeInit(&hi2c1);
+	HAL_Delay(10);  // Allow lines to settle
+	HAL_I2C_Init(&hi2c1);
+	/* USER CODE END I2C1_Init 2 */
 
 }
 
 /**
-  * @brief SPI1 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_SPI1_Init(void)
-{
+ * @brief SPI1 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_SPI1_Init(void) {
 
-  /* USER CODE BEGIN SPI1_Init 0 */
+	/* USER CODE BEGIN SPI1_Init 0 */
 
-  /* USER CODE END SPI1_Init 0 */
+	/* USER CODE END SPI1_Init 0 */
 
-  /* USER CODE BEGIN SPI1_Init 1 */
+	/* USER CODE BEGIN SPI1_Init 1 */
 
-  /* USER CODE END SPI1_Init 1 */
-  /* SPI1 parameter configuration*/
-  hspi1.Instance = SPI1;
-  hspi1.Init.Mode = SPI_MODE_MASTER;
-  hspi1.Init.Direction = SPI_DIRECTION_2LINES;
-  hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
-  hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
-  hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
-  hspi1.Init.NSS = SPI_NSS_SOFT;
-  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
-  hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
-  hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
-  hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
-  hspi1.Init.CRCPolynomial = 10;
-  if (HAL_SPI_Init(&hspi1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN SPI1_Init 2 */
+	/* USER CODE END SPI1_Init 1 */
+	/* SPI1 parameter configuration*/
+	hspi1.Instance = SPI1;
+	hspi1.Init.Mode = SPI_MODE_MASTER;
+	hspi1.Init.Direction = SPI_DIRECTION_2LINES;
+	hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
+	hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
+	hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
+	hspi1.Init.NSS = SPI_NSS_SOFT;
+	hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
+	hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
+	hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
+	hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
+	hspi1.Init.CRCPolynomial = 10;
+	if (HAL_SPI_Init(&hspi1) != HAL_OK) {
+		Error_Handler();
+	}
+	/* USER CODE BEGIN SPI1_Init 2 */
 
-  /* USER CODE END SPI1_Init 2 */
+	/* USER CODE END SPI1_Init 2 */
 
 }
 
 /**
-  * @brief TIM1 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_TIM1_Init(void)
-{
+ * @brief TIM1 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_TIM1_Init(void) {
 
-  /* USER CODE BEGIN TIM1_Init 0 */
+	/* USER CODE BEGIN TIM1_Init 0 */
 
-  /* USER CODE END TIM1_Init 0 */
+	/* USER CODE END TIM1_Init 0 */
 
-  TIM_Encoder_InitTypeDef sConfig = {0};
-  TIM_MasterConfigTypeDef sMasterConfig = {0};
+	TIM_Encoder_InitTypeDef sConfig = { 0 };
+	TIM_MasterConfigTypeDef sMasterConfig = { 0 };
 
-  /* USER CODE BEGIN TIM1_Init 1 */
+	/* USER CODE BEGIN TIM1_Init 1 */
 
-  /* USER CODE END TIM1_Init 1 */
-  htim1.Instance = TIM1;
-  htim1.Init.Prescaler = 0;
-  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim1.Init.Period = 65535;
-  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim1.Init.RepetitionCounter = 0;
-  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
-  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
-  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
-  sConfig.IC1Prescaler = TIM_ICPSC_DIV8;
-  sConfig.IC1Filter = 15;
-  sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
-  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
-  sConfig.IC2Prescaler = TIM_ICPSC_DIV8;
-  sConfig.IC2Filter = 15;
-  if (HAL_TIM_Encoder_Init(&htim1, &sConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
-  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM1_Init 2 */
-
-  /* USER CODE END TIM1_Init 2 */
+	/* USER CODE END TIM1_Init 1 */
+	htim1.Instance = TIM1;
+	htim1.Init.Prescaler = 0;
+	htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+	htim1.Init.Period = 65535;
+	htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+	htim1.Init.RepetitionCounter = 0;
+	htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+	sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
+	sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
+	sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
+	sConfig.IC1Prescaler = TIM_ICPSC_DIV8;
+	sConfig.IC1Filter = 15;
+	sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
+	sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
+	sConfig.IC2Prescaler = TIM_ICPSC_DIV8;
+	sConfig.IC2Filter = 15;
+	if (HAL_TIM_Encoder_Init(&htim1, &sConfig) != HAL_OK) {
+		Error_Handler();
+	}
+	sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+	sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+	if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig)
+			!= HAL_OK) {
+		Error_Handler();
+	}
+	/* USER CODE BEGIN TIM1_Init 2 */
+	HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_ALL);
+	/* USER CODE END TIM1_Init 2 */
 
 }
 
 /**
-  * @brief TIM4 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_TIM4_Init(void)
-{
+ * @brief TIM4 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_TIM4_Init(void) {
 
-  /* USER CODE BEGIN TIM4_Init 0 */
+	/* USER CODE BEGIN TIM4_Init 0 */
 
-  /* USER CODE END TIM4_Init 0 */
+	/* USER CODE END TIM4_Init 0 */
 
-  TIM_Encoder_InitTypeDef sConfig = {0};
-  TIM_MasterConfigTypeDef sMasterConfig = {0};
+	TIM_Encoder_InitTypeDef sConfig = { 0 };
+	TIM_MasterConfigTypeDef sMasterConfig = { 0 };
 
-  /* USER CODE BEGIN TIM4_Init 1 */
+	/* USER CODE BEGIN TIM4_Init 1 */
 
-  /* USER CODE END TIM4_Init 1 */
-  htim4.Instance = TIM4;
-  htim4.Init.Prescaler = 0;
-  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim4.Init.Period = TIM4_ARR_VALUE;
-  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
-  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
-  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
-  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
-  sConfig.IC1Filter = 15;
-  sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
-  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
-  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
-  sConfig.IC2Filter = 15;
-  if (HAL_TIM_Encoder_Init(&htim4, &sConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
-  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM4_Init 2 */
-  HAL_TIM_Encoder_Start(&htim4, TIM_CHANNEL_ALL);
-  /* USER CODE END TIM4_Init 2 */
+	/* USER CODE END TIM4_Init 1 */
+	htim4.Instance = TIM4;
+	htim4.Init.Prescaler = 0;
+	htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
+	htim4.Init.Period = 65535;
+	htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+	htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+	sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
+	sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
+	sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
+	sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
+	sConfig.IC1Filter = 15;
+	sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
+	sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
+	sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
+	sConfig.IC2Filter = 15;
+	if (HAL_TIM_Encoder_Init(&htim4, &sConfig) != HAL_OK) {
+		Error_Handler();
+	}
+	sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+	sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+	if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig)
+			!= HAL_OK) {
+		Error_Handler();
+	}
+	/* USER CODE BEGIN TIM4_Init 2 */
+	HAL_TIM_Encoder_Start(&htim4, TIM_CHANNEL_ALL);
+	/* USER CODE END TIM4_Init 2 */
 
 }
 
 /**
-  * @brief TIM5 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_TIM5_Init(void)
-{
+ * @brief TIM5 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_TIM5_Init(void) {
 
-  /* USER CODE BEGIN TIM5_Init 0 */
+	/* USER CODE BEGIN TIM5_Init 0 */
 
-  /* USER CODE END TIM5_Init 0 */
+	/* USER CODE END TIM5_Init 0 */
 
-  TIM_MasterConfigTypeDef sMasterConfig = {0};
-  TIM_OC_InitTypeDef sConfigOC = {0};
+	TIM_MasterConfigTypeDef sMasterConfig = { 0 };
+	TIM_OC_InitTypeDef sConfigOC = { 0 };
 
-  /* USER CODE BEGIN TIM5_Init 1 */
+	/* USER CODE BEGIN TIM5_Init 1 */
 
-  /* USER CODE END TIM5_Init 1 */
-  htim5.Instance = TIM5;
-  htim5.Init.Prescaler = 15;
-  htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim5.Init.Period = TIM5_ARR_VALUE;
-  htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_PWM_Init(&htim5) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
-  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.OCMode = TIM_OCMODE_PWM1;
-  sConfigOC.Pulse = 0;
-  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
-  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM5_Init 2 */
+	/* USER CODE END TIM5_Init 1 */
+	htim5.Instance = TIM5;
+	htim5.Init.Prescaler = 15;
+	htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
+	htim5.Init.Period = 4000;
+	htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+	htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+	if (HAL_TIM_PWM_Init(&htim5) != HAL_OK) {
+		Error_Handler();
+	}
+	sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+	sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+	if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig)
+			!= HAL_OK) {
+		Error_Handler();
+	}
+	sConfigOC.OCMode = TIM_OCMODE_PWM1;
+	sConfigOC.Pulse = 0;
+	sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+	sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+	if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_1)
+			!= HAL_OK) {
+		Error_Handler();
+	}
+	if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_2)
+			!= HAL_OK) {
+		Error_Handler();
+	}
+	if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_3)
+			!= HAL_OK) {
+		Error_Handler();
+	}
+	if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_4)
+			!= HAL_OK) {
+		Error_Handler();
+	}
+	/* USER CODE BEGIN TIM5_Init 2 */
 	/* Start motor PWM */
 	__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_1, 0);
 	__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_2, 0);
@@ -678,115 +706,111 @@ static void MX_TIM5_Init(void)
 	HAL_TIM_PWM_Start(&htim5, TIM_CHANNEL_2);
 	HAL_TIM_PWM_Start(&htim5, TIM_CHANNEL_3);
 	HAL_TIM_PWM_Start(&htim5, TIM_CHANNEL_4);
-  /* USER CODE END TIM5_Init 2 */
-  HAL_TIM_MspPostInit(&htim5);
+	/* USER CODE END TIM5_Init 2 */
+	HAL_TIM_MspPostInit(&htim5);
 
 }
 
 /**
-  * @brief USART6 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_USART6_UART_Init(void)
-{
+ * @brief USART6 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_USART6_UART_Init(void) {
 
-  /* USER CODE BEGIN USART6_Init 0 */
+	/* USER CODE BEGIN USART6_Init 0 */
 
-  /* USER CODE END USART6_Init 0 */
+	/* USER CODE END USART6_Init 0 */
 
-  /* USER CODE BEGIN USART6_Init 1 */
+	/* USER CODE BEGIN USART6_Init 1 */
 
-  /* USER CODE END USART6_Init 1 */
-  huart6.Instance = USART6;
-  huart6.Init.BaudRate = 115200;
-  huart6.Init.WordLength = UART_WORDLENGTH_8B;
-  huart6.Init.StopBits = UART_STOPBITS_1;
-  huart6.Init.Parity = UART_PARITY_NONE;
-  huart6.Init.Mode = UART_MODE_TX_RX;
-  huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
-  huart6.Init.OverSampling = UART_OVERSAMPLING_16;
-  if (HAL_UART_Init(&huart6) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN USART6_Init 2 */
+	/* USER CODE END USART6_Init 1 */
+	huart6.Instance = USART6;
+	huart6.Init.BaudRate = 115200;
+	huart6.Init.WordLength = UART_WORDLENGTH_8B;
+	huart6.Init.StopBits = UART_STOPBITS_1;
+	huart6.Init.Parity = UART_PARITY_NONE;
+	huart6.Init.Mode = UART_MODE_TX_RX;
+	huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+	huart6.Init.OverSampling = UART_OVERSAMPLING_16;
+	if (HAL_UART_Init(&huart6) != HAL_OK) {
+		Error_Handler();
+	}
+	/* USER CODE BEGIN USART6_Init 2 */
 	uint8_t rx_byte;
 	HAL_UART_Receive_IT(&huart6, &rx_byte, 1);
 
-  /* USER CODE END USART6_Init 2 */
+	/* USER CODE END USART6_Init 2 */
 
 }
 
 /**
-  * Enable DMA controller clock
-  */
-static void MX_DMA_Init(void)
-{
+ * Enable DMA controller clock
+ */
+static void MX_DMA_Init(void) {
 
-  /* DMA controller clock enable */
-  __HAL_RCC_DMA2_CLK_ENABLE();
+	/* DMA controller clock enable */
+	__HAL_RCC_DMA2_CLK_ENABLE();
 
-  /* DMA interrupt init */
-  /* DMA2_Stream0_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA2_Stream0_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(DMA2_Stream0_IRQn);
-  /* DMA2_Stream3_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
+	/* DMA interrupt init */
+	/* DMA2_Stream0_IRQn interrupt configuration */
+	HAL_NVIC_SetPriority(DMA2_Stream0_IRQn, 5, 0);
+	HAL_NVIC_EnableIRQ(DMA2_Stream0_IRQn);
+	/* DMA2_Stream3_IRQn interrupt configuration */
+	HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0);
+	HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
 
 }
 
 /**
-  * @brief GPIO Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_GPIO_Init(void)
-{
-  GPIO_InitTypeDef GPIO_InitStruct = {0};
-  /* USER CODE BEGIN MX_GPIO_Init_1 */
+ * @brief GPIO Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_GPIO_Init(void) {
+	GPIO_InitTypeDef GPIO_InitStruct = { 0 };
+	/* USER CODE BEGIN MX_GPIO_Init_1 */
 
-  /* USER CODE END MX_GPIO_Init_1 */
+	/* USER CODE END MX_GPIO_Init_1 */
 
-  /* GPIO Ports Clock Enable */
-  __HAL_RCC_GPIOC_CLK_ENABLE();
-  __HAL_RCC_GPIOA_CLK_ENABLE();
-  __HAL_RCC_GPIOB_CLK_ENABLE();
+	/* GPIO Ports Clock Enable */
+	__HAL_RCC_GPIOC_CLK_ENABLE();
+	__HAL_RCC_GPIOA_CLK_ENABLE();
+	__HAL_RCC_GPIOB_CLK_ENABLE();
 
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(LED_BLUE_GPIO_Port, LED_BLUE_Pin, GPIO_PIN_RESET);
+	/*Configure GPIO pin Output Level */
+	HAL_GPIO_WritePin(LED_BLUE_GPIO_Port, LED_BLUE_Pin, GPIO_PIN_RESET);
 
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOA, DISPLAY_CS_Pin|DISPLAY_RES_Pin, GPIO_PIN_RESET);
+	/*Configure GPIO pin Output Level */
+	HAL_GPIO_WritePin(GPIOA, DISPLAY_CS_Pin | DISPLAY_RES_Pin, GPIO_PIN_RESET);
 
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(DISPLAY_DC_GPIO_Port, DISPLAY_DC_Pin, GPIO_PIN_RESET);
+	/*Configure GPIO pin Output Level */
+	HAL_GPIO_WritePin(DISPLAY_DC_GPIO_Port, DISPLAY_DC_Pin, GPIO_PIN_RESET);
 
-  /*Configure GPIO pin : LED_BLUE_Pin */
-  GPIO_InitStruct.Pin = LED_BLUE_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(LED_BLUE_GPIO_Port, &GPIO_InitStruct);
+	/*Configure GPIO pin : LED_BLUE_Pin */
+	GPIO_InitStruct.Pin = LED_BLUE_Pin;
+	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+	GPIO_InitStruct.Pull = GPIO_NOPULL;
+	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+	HAL_GPIO_Init(LED_BLUE_GPIO_Port, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : DISPLAY_CS_Pin DISPLAY_RES_Pin */
-  GPIO_InitStruct.Pin = DISPLAY_CS_Pin|DISPLAY_RES_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+	/*Configure GPIO pins : DISPLAY_CS_Pin DISPLAY_RES_Pin */
+	GPIO_InitStruct.Pin = DISPLAY_CS_Pin | DISPLAY_RES_Pin;
+	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+	GPIO_InitStruct.Pull = GPIO_NOPULL;
+	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-  /*Configure GPIO pin : DISPLAY_DC_Pin */
-  GPIO_InitStruct.Pin = DISPLAY_DC_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(DISPLAY_DC_GPIO_Port, &GPIO_InitStruct);
+	/*Configure GPIO pin : DISPLAY_DC_Pin */
+	GPIO_InitStruct.Pin = DISPLAY_DC_Pin;
+	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+	GPIO_InitStruct.Pull = GPIO_NOPULL;
+	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+	HAL_GPIO_Init(DISPLAY_DC_GPIO_Port, &GPIO_InitStruct);
 
-  /* USER CODE BEGIN MX_GPIO_Init_2 */
+	/* USER CODE BEGIN MX_GPIO_Init_2 */
 
-  /* USER CODE END MX_GPIO_Init_2 */
+	/* USER CODE END MX_GPIO_Init_2 */
 }
 
 /* USER CODE BEGIN 4 */
@@ -795,24 +819,109 @@ static void MX_GPIO_Init(void)
 
 /* USER CODE BEGIN Header_start_control */
 /**
-  * @brief  Function implementing the control thread.
-  * @param  argument: Not used
-  * @retval None
-  */
+ * @brief  Function implementing the control thread.
+ * @param  argument: Not used
+ * @retval None
+ */
 /* USER CODE END Header_start_control */
-void start_control(void *argument)
-{
-  /* USER CODE BEGIN 5 */
+void start_control(void *argument) {
+	/* USER CODE BEGIN 5 */
 	/* Infinite loop */
 	float tempspeed;
+	float Ki = 0.5 * 0.5;
+	float Kp = 0.005 * 10;
+	float Kw = 1;
+	float integral1 = 0;
+	float integral2 = 0;
+	float sat_diff_1 = 0;
+	float sat_diff_2 = 0;
+	static char statsBuffer[200];
+	motor.ul = 2 * M_PI;
+	motor.ur = 2 * M_PI;
 
 	for (;;) {
-		osDelay(10);
-		set_pwm(0.1, 'l', 'c');
 
-		tempspeed=encoder_TIM4_speed_rad();
+		vTaskDelay(5);
+
+		vTaskGetRunTimeStats(statsBuffer);
+		//motor.wr = encoder_TIM3_speed_rad();
+
+		tempspeed = -encoder_TIM1_speed_rad();
+		if (fabsf(tempspeed - motor.wr) < 700.0f) {
+			motor.wr = tempspeed;
+			char uart_buf[20];
+			int whole = (int) motor.wr;
+			int frac = (int) ((motor.wr - whole) * 1000);  // 3 decimal digits
+
+			if (frac < 0)
+				frac = -frac;  // handle negative numbers
+//
+			int len = 0;
+			if (motor.wr < 0 && whole == 0)
+				len = sprintf(uart_buf, "-0.%03d\r\n", frac);
+			else
+				len = sprintf(uart_buf, "%d.%03d\r\n", whole, frac);
+
+			HAL_UART_Transmit(&huart6, (uint8_t*) uart_buf, len, HAL_MAX_DELAY);
+		}
+		tempspeed = -encoder_TIM4_speed_rad();
+		if (fabsf(tempspeed - motor.wl) > 70.0f) {
+
+		} else {
+			motor.wl = tempspeed;
+
+//			char uart_buf[20];
+//			int whole = (int) motor.wl;
+//			int frac = (int) ((motor.wl - whole) * 1000);  // 3 decimal digits
+//
+//			if (frac < 0)
+//				frac = -frac;  // handle negative numbers
+////
+//			int len = 0;
+//			if (motor.wl < 0 && whole == 0)
+//				len = sprintf(uart_buf, "-0.%03d\r\n", frac);
+//			else
+//				len = sprintf(uart_buf, "%d.%03d\r\n", whole, frac);
+//
+//			HAL_UART_Transmit(&huart6, (uint8_t*) uart_buf, len, HAL_MAX_DELAY);
+
+		}
+
+		// Calculation for Motor 1 control signal
+		float error1 = (-1) * motor.ur - motor.wr;
+		if (error1 > 10) {
+			int t = 0;
+		}
+		float anti_windup_1 = Ki * error1 - sat_diff_1 * Kw;
+		integral1 += anti_windup_1 * TS;
+		float control1 = integral1 + Kp * error1;
+		float unsat_control_1 = control1;
+		control1 =
+				fabsf(control1) > 0.7f ?
+						(control1 / fabsf(control1)) * 0.7f : control1;
+		sat_diff_1 = unsat_control_1 - control1;
+
+		set_pwm(control1, 'r', 'c');
+
+		// Calculation for Motor 2 control signal
+		float error2 = motor.ul - motor.wl;
+		if (error2 > 10) {
+			int t = 0;
+		}
+		float anti_windup_2 = Ki * error2 - sat_diff_2 * Kw;
+		integral2 += anti_windup_2 * TS;
+		float control2 = integral2 + Kp * error2;
+		float unsat_control_2 = control2;
+		control2 =
+				fabsf(control2) > 0.7f ?
+						(control2 / fabsf(control2)) * 0.7f : control2;
+		sat_diff_2 = unsat_control_2 - control2;
+
+		set_pwm(control2, 'l', 'c');
+		//set_pwm(-0.7, 'l', 'c');
+
 	}
-  /* USER CODE END 5 */
+	/* USER CODE END 5 */
 }
 
 /* USER CODE BEGIN Header_snakegame */
@@ -822,9 +931,8 @@ void start_control(void *argument)
  * @retval None
  */
 /* USER CODE END Header_snakegame */
-void snakegame(void *argument)
-{
-  /* USER CODE BEGIN snakegame */
+void snakegame(void *argument) {
+	/* USER CODE BEGIN snakegame */
 	/* Infinite loop */
 	//ILI9341_FillScreen(BLACK);
 	GameInit();
@@ -848,7 +956,7 @@ void snakegame(void *argument)
 		}
 
 	}
-  /* USER CODE END snakegame */
+	/* USER CODE END snakegame */
 }
 
 /* USER CODE BEGIN Header_handle_menu */
@@ -917,16 +1025,14 @@ void redraw_menu() {		//only done onece saves resources
 }
 
 /* USER CODE END Header_handle_menu */
-void handle_menu(void *argument)
-{
-  /* USER CODE BEGIN handle_menu */
+void handle_menu(void *argument) {
+	/* USER CODE BEGIN handle_menu */
 	/* Infinite loop */
 
 	char dir;
 	vTaskDelay(50);
 	redraw_menu();
 	while (1) {
-
 		// Check input
 		if (run_menu) {
 			osStatus_t status = osMessageQueueGet(pressesHandle, &dir, NULL,
@@ -942,15 +1048,26 @@ void handle_menu(void *argument)
 				}
 				if (dir == 'U' || dir == 'D' || dir == 'L' || dir == 'R') {
 					if (menu_status[sel_x][sel_y]) {
-						ILI9341_DrawText(grid_labels[sel_x][sel_y], FONT2,
-						START_X + sel_x * CELL_WIDTH,
-						START_Y + sel_y * CELL_HEIGHT, COLOR_TEXT,
-						COLOR_ACTIVATED);
+						if (osMutexAcquire(displayHandle, osWaitForever)
+								== osOK) {
+
+							ILI9341_DrawText(grid_labels[sel_x][sel_y], FONT2,
+							START_X + sel_x * CELL_WIDTH,
+							START_Y + sel_y * CELL_HEIGHT, COLOR_TEXT,
+							COLOR_ACTIVATED);
+							osMutexRelease(displayHandle);
+						}
 					} else {
-						ILI9341_DrawText(grid_labels[sel_x][sel_y], FONT2,
-						START_X + sel_x * CELL_WIDTH,
-						START_Y + sel_y * CELL_HEIGHT, COLOR_TEXT,
-						COLOR_BG);
+						if (osMutexAcquire(displayHandle, osWaitForever)
+								== osOK) {
+
+							ILI9341_DrawText(grid_labels[sel_x][sel_y], FONT2,
+							START_X + sel_x * CELL_WIDTH,
+							START_Y + sel_y * CELL_HEIGHT, COLOR_TEXT,
+							COLOR_BG);
+							osMutexRelease(displayHandle);
+
+						}
 					}
 				}
 				if (dir == 'U' && sel_y > 0)
@@ -963,15 +1080,27 @@ void handle_menu(void *argument)
 					sel_x++;
 			}
 			if (menu_status[sel_x][sel_y]) {
-				ILI9341_DrawText(grid_labels[sel_x][sel_y], FONT2,
-				START_X + sel_x * CELL_WIDTH, START_Y + sel_y * CELL_HEIGHT,
-				COLOR_TEXT,
-				COLOR_ACTIVATED_AND_SELECTED);
+				if (osMutexAcquire(displayHandle, osWaitForever) == osOK) {
+
+					ILI9341_DrawText(grid_labels[sel_x][sel_y], FONT2,
+					START_X + sel_x * CELL_WIDTH, START_Y + sel_y * CELL_HEIGHT,
+					COLOR_TEXT,
+					COLOR_ACTIVATED_AND_SELECTED);
+					osMutexRelease(displayHandle);
+
+				}
+
 			} else {
-				ILI9341_DrawText(grid_labels[sel_x][sel_y], FONT2,
-				START_X + sel_x * CELL_WIDTH, START_Y + sel_y * CELL_HEIGHT,
-				COLOR_TEXT,
-				COLOR_SELECTED);
+				if (osMutexAcquire(displayHandle, osWaitForever) == osOK) {
+
+					ILI9341_DrawText(grid_labels[sel_x][sel_y], FONT2,
+					START_X + sel_x * CELL_WIDTH, START_Y + sel_y * CELL_HEIGHT,
+					COLOR_TEXT,
+					COLOR_SELECTED);
+					osMutexRelease(displayHandle);
+
+				}
+
 			}
 			if (redraw_menu_pending) {
 				redraw_menu();
@@ -981,43 +1110,84 @@ void handle_menu(void *argument)
 
 		osDelay(10);
 	}
-  /* USER CODE END handle_menu */
+	/* USER CODE END handle_menu */
+}
+
+/* USER CODE BEGIN Header_start_balance */
+#define MPU6050_ADDR (0x68 <<1)
+
+/**
+ * @brief Function implementing the balance thread.
+ * @param argument: Not used
+ * @retval None
+ */
+/* USER CODE END Header_start_balance */
+void start_balance(void *argument) {
+	/* USER CODE BEGIN start_balance */
+	/* Infinite loop */
+	int16_t accel[3], gyro[3], temp;
+	HAL_Delay(500);
+
+	for (;;) {
+		uint8_t value = 0;
+		HAL_StatusTypeDef ret;
+		ret = HAL_I2C_Mem_Read(&hi2c1, 0xD0, 0x75, 1, &value, 1, 100);
+
+		uint8_t who_am_i = 0;
+		HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, 0x75, 1, &who_am_i, 1, 100);
+		uint8_t check;
+		uint8_t data;
+
+		// Check WHO_AM_I register
+		HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, 0x75, 1, &check, 1, 100);
+		HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, 0x6B, 1, &data, 1, 100);
+
+		float ax = accel[0] / 16384.0;
+		float gx = gyro[0] / 131.0;
+
+		float temperature = temp / 340.0 + 36.53;  // °C
+
+		osDelay(10);
+
+		uint8_t TX_Buffer[] = "A"; // DATA to send
+
+		ret = HAL_I2C_Master_Transmit(&hi2c1, 20, TX_Buffer, 1, 1000); //Sending in Blocking mode
+
+	}
+	/* USER CODE END start_balance */
 }
 
 /**
-  * @brief  Period elapsed callback in non blocking mode
-  * @note   This function is called  when TIM3 interrupt took place, inside
-  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
-  * a global variable "uwTick" used as application time base.
-  * @param  htim : TIM handle
-  * @retval None
-  */
-void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
-{
-  /* USER CODE BEGIN Callback 0 */
+ * @brief  Period elapsed callback in non blocking mode
+ * @note   This function is called  when TIM3 interrupt took place, inside
+ * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
+ * a global variable "uwTick" used as application time base.
+ * @param  htim : TIM handle
+ * @retval None
+ */
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
+	/* USER CODE BEGIN Callback 0 */
 
-  /* USER CODE END Callback 0 */
-  if (htim->Instance == TIM3)
-  {
-    HAL_IncTick();
-  }
-  /* USER CODE BEGIN Callback 1 */
+	/* USER CODE END Callback 0 */
+	if (htim->Instance == TIM3) {
+		HAL_IncTick();
+	}
+	/* USER CODE BEGIN Callback 1 */
 
-  /* USER CODE END Callback 1 */
+	/* USER CODE END Callback 1 */
 }
 
 /**
-  * @brief  This function is executed in case of error occurrence.
-  * @retval None
-  */
-void Error_Handler(void)
-{
-  /* USER CODE BEGIN Error_Handler_Debug */
+ * @brief  This function is executed in case of error occurrence.
+ * @retval None
+ */
+void Error_Handler(void) {
+	/* USER CODE BEGIN Error_Handler_Debug */
 	/* User can add his own implementation to report the HAL error return state */
 	__disable_irq();
 	while (1) {
 	}
-  /* USER CODE END Error_Handler_Debug */
+	/* USER CODE END Error_Handler_Debug */
 }
 
 #ifdef  USE_FULL_ASSERT
diff --git a/touchscreengames/Core/Src/stm32f4xx_it.c b/touchscreengames/Core/Src/stm32f4xx_it.c
index 78ca51c..ad9b5b9 100644
--- a/touchscreengames/Core/Src/stm32f4xx_it.c
+++ b/touchscreengames/Core/Src/stm32f4xx_it.c
@@ -228,7 +228,7 @@ void USART6_IRQHandler(void)
   /* USER CODE END USART6_IRQn 0 */
   HAL_UART_IRQHandler(&huart6);
   /* USER CODE BEGIN USART6_IRQn 1 */
-  //UART_CALLBACK();
+  UART_CALLBACK();
   /* USER CODE END USART6_IRQn 1 */
 }