diff --git a/2.Firmware/ServoDrive-fw-ll/src/main.c b/2.Firmware/ServoDrive-fw-ll/src/main.c
index 81642a1..06415ef 100644
--- a/2.Firmware/ServoDrive-fw-ll/src/main.c
+++ b/2.Firmware/ServoDrive-fw-ll/src/main.c
@@ -160,242 +160,6 @@ void SystemClock_Config(void)
   LL_RCC_SetI2CClockSource(LL_RCC_I2C1_CLKSOURCE_HSI);
 }
 
-/**
-  * @brief ADC Initialization Function
-  * @param None
-  * @retval None
-  */
-// static void MX_ADC_Init(void)
-// {
-
-//   /* USER CODE BEGIN ADC_Init 0 */
-
-//   /* USER CODE END ADC_Init 0 */
-
-//   LL_ADC_InitTypeDef ADC_InitStruct = {0};
-//   LL_ADC_REG_InitTypeDef ADC_REG_InitStruct = {0};
-
-//   LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
-
-//   /* Peripheral clock enable */
-//   LL_APB1_GRP2_EnableClock(LL_APB1_GRP2_PERIPH_ADC1);
-
-//   LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOA);
-//   /**ADC GPIO Configuration
-//   PA4   ------> ADC_IN4
-//   */
-//   GPIO_InitStruct.Pin = LL_GPIO_PIN_4;
-//   GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
-//   GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
-//   LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
-//   /* ADC DMA Init */
-
-//   /* ADC Init */
-//   LL_DMA_SetDataTransferDirection(DMA1, LL_DMA_CHANNEL_1, LL_DMA_DIRECTION_PERIPH_TO_MEMORY);
-
-//   LL_DMA_SetChannelPriorityLevel(DMA1, LL_DMA_CHANNEL_1, LL_DMA_PRIORITY_LOW);
-
-//   LL_DMA_SetMode(DMA1, LL_DMA_CHANNEL_1, LL_DMA_MODE_CIRCULAR);
-
-//   LL_DMA_SetPeriphIncMode(DMA1, LL_DMA_CHANNEL_1, LL_DMA_PERIPH_NOINCREMENT);
-
-//   LL_DMA_SetMemoryIncMode(DMA1, LL_DMA_CHANNEL_1, LL_DMA_MEMORY_INCREMENT);
-
-//   LL_DMA_SetPeriphSize(DMA1, LL_DMA_CHANNEL_1, LL_DMA_PDATAALIGN_HALFWORD);
-
-//   LL_DMA_SetMemorySize(DMA1, LL_DMA_CHANNEL_1, LL_DMA_MDATAALIGN_HALFWORD);
-
-//     LL_DMA_SetDataLength(DMA1,LL_DMA_CHANNEL_1,1);
-//     LL_DMA_SetMemoryAddress(DMA1,LL_DMA_CHANNEL_1,(uint32_t )&adcData);
-//     LL_DMA_SetPeriphAddress(DMA1,LL_DMA_CHANNEL_1,LL_ADC_DMA_GetRegAddr(ADC1,LL_ADC_DMA_REG_REGULAR_DATA));
-    
-//     LL_DMA_EnableChannel(DMA1,LL_DMA_CHANNEL_1);
-
-//   /* ADC interrupt Init */
-// //   NVIC_SetPriority(ADC1_IRQn, 1);
-// //   NVIC_EnableIRQ(ADC1_IRQn);
-
-//   /* USER CODE BEGIN ADC_Init 1 */
-
-//   /* USER CODE END ADC_Init 1 */
-//   /** Configure Regular Channel
-//   */
-//   LL_ADC_REG_SetSequencerChAdd(ADC1, LL_ADC_CHANNEL_4);
-//   /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
-//   */
-//   ADC_InitStruct.Clock = LL_ADC_CLOCK_ASYNC;
-//   ADC_InitStruct.Resolution = LL_ADC_RESOLUTION_12B;
-//   ADC_InitStruct.DataAlignment = LL_ADC_DATA_ALIGN_RIGHT;
-//   ADC_InitStruct.LowPowerMode = LL_ADC_LP_MODE_NONE;
-//   LL_ADC_Init(ADC1, &ADC_InitStruct);
-//   ADC_REG_InitStruct.TriggerSource = LL_ADC_REG_TRIG_SOFTWARE;
-//   ADC_REG_InitStruct.SequencerDiscont = LL_ADC_REG_SEQ_DISCONT_DISABLE;
-//   ADC_REG_InitStruct.ContinuousMode = LL_ADC_REG_CONV_SINGLE;
-//   ADC_REG_InitStruct.DMATransfer = LL_ADC_REG_DMA_TRANSFER_UNLIMITED;
-//   ADC_REG_InitStruct.Overrun = LL_ADC_REG_OVR_DATA_PRESERVED;
-//   LL_ADC_REG_Init(ADC1, &ADC_REG_InitStruct);
-//   LL_ADC_REG_SetSequencerScanDirection(ADC1, LL_ADC_REG_SEQ_SCAN_DIR_FORWARD);
-//   LL_ADC_SetSamplingTimeCommonChannels(ADC1, LL_ADC_SAMPLINGTIME_1CYCLE_5);
-//   /* USER CODE BEGIN ADC_Init 2 */
-//   LL_ADC_Enable(ADC1);
-// //   LL_ADC_StartCalibration(ADC1); 
-// //   while( LL_ADC_IsCalibrationOnGoing(ADC1)); 
-
-//     LL_ADC_REG_StartConversion(ADC1);
-
-//   LL_ADC_REG_SetDMATransfer(ADC1,LL_ADC_REG_DMA_TRANSFER_UNLIMITED);
-  
-//   /* USER CODE END ADC_Init 2 */
-
-// }
-
-/**
-  * @brief TIM3 Initialization Function
-  * @param None
-  * @retval None
-  */
-// static void MX_TIM3_Init(void)
-// {
-
-//   /* USER CODE BEGIN TIM3_Init 0 */
-
-//   /* USER CODE END TIM3_Init 0 */
-
-//   LL_TIM_InitTypeDef TIM_InitStruct = {0};
-//   LL_TIM_OC_InitTypeDef TIM_OC_InitStruct = {0};
-
-//   LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
-
-//   /* Peripheral clock enable */
-//   LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM3);
-
-//   /* USER CODE BEGIN TIM3_Init 1 */
-
-//   /* USER CODE END TIM3_Init 1 */
-//   TIM_InitStruct.Prescaler = 0;
-//   TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP;
-//   TIM_InitStruct.Autoreload = 999;
-//   TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
-//   LL_TIM_Init(TIM3, &TIM_InitStruct);
-//   LL_TIM_DisableARRPreload(TIM3);
-//   LL_TIM_OC_EnablePreload(TIM3, LL_TIM_CHANNEL_CH1);
-//   TIM_OC_InitStruct.OCMode = LL_TIM_OCMODE_PWM1;
-//   TIM_OC_InitStruct.OCState = LL_TIM_OCSTATE_DISABLE;
-//   TIM_OC_InitStruct.OCNState = LL_TIM_OCSTATE_DISABLE;
-//   TIM_OC_InitStruct.CompareValue = 0;
-//   TIM_OC_InitStruct.OCPolarity = LL_TIM_OCPOLARITY_HIGH;
-//   LL_TIM_OC_Init(TIM3, LL_TIM_CHANNEL_CH1, &TIM_OC_InitStruct);
-//   LL_TIM_OC_DisableFast(TIM3, LL_TIM_CHANNEL_CH1);
-//   LL_TIM_OC_EnablePreload(TIM3, LL_TIM_CHANNEL_CH2);
-//   LL_TIM_OC_Init(TIM3, LL_TIM_CHANNEL_CH2, &TIM_OC_InitStruct);
-//   LL_TIM_OC_DisableFast(TIM3, LL_TIM_CHANNEL_CH2);
-//   LL_TIM_SetTriggerOutput(TIM3, LL_TIM_TRGO_RESET);
-//   LL_TIM_DisableMasterSlaveMode(TIM3);
-//   /* USER CODE BEGIN TIM3_Init 2 */
-
-//   /* USER CODE END TIM3_Init 2 */
-//   LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOA);
-//   /**TIM3 GPIO Configuration
-//   PA6   ------> TIM3_CH1
-//   PA7   ------> TIM3_CH2
-//   */
-//   GPIO_InitStruct.Pin = LL_GPIO_PIN_6;
-//   GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
-//   GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
-//   GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
-//   GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
-//   GPIO_InitStruct.Alternate = LL_GPIO_AF_1;
-//   LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
-//   GPIO_InitStruct.Pin = LL_GPIO_PIN_7;
-//   GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
-//   GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
-//   GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
-//   GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
-//   GPIO_InitStruct.Alternate = LL_GPIO_AF_1;
-//   LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
-// }
-
-// /**
-//   * @brief TIM14 Initialization Function
-//   * @param None
-//   * @retval None
-//   */
-// static void MX_TIM14_Init(void)
-// {
-
-//   /* USER CODE BEGIN TIM14_Init 0 */
-
-//   /* USER CODE END TIM14_Init 0 */
-
-//   LL_TIM_InitTypeDef TIM_InitStruct = {0};
-
-//   /* Peripheral clock enable */
-//   LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM14);
-
-//   /* TIM14 interrupt Init */
-//   NVIC_SetPriority(TIM14_IRQn, 3);
-//   NVIC_EnableIRQ(TIM14_IRQn);
-
-//   /* USER CODE BEGIN TIM14_Init 1 */
-
-//   /* USER CODE END TIM14_Init 1 */
-//   TIM_InitStruct.Prescaler = 47;
-//   TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP;
-//   TIM_InitStruct.Autoreload = 4999;
-//   TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
-//   LL_TIM_Init(TIM14, &TIM_InitStruct);
-//   LL_TIM_DisableARRPreload(TIM14);
-//   /* USER CODE BEGIN TIM14_Init 2 */
-
-//   /* USER CODE END TIM14_Init 2 */
-
-// }
-
-/**
-  * Enable DMA controller clock
-  */
-// static void MX_DMA_Init(void)
-// {
-
-//   /* Init with LL driver */
-//   /* DMA controller clock enable */
-//   LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_DMA1);
-
-//   /* DMA interrupt init */
-//   /* DMA1_Channel1_IRQn interrupt configuration */
-// //   NVIC_SetPriority(DMA1_Channel1_IRQn, 0);
-// //   NVIC_EnableIRQ(DMA1_Channel1_IRQn);
-
-// }
-
-/**
-  * @brief GPIO Initialization Function
-  * @param None
-  * @retval None
-  */
-// static void MX_GPIO_Init(void)
-// {
-//   LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
-
-//   /* GPIO Ports Clock Enable */
-//   LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOA);
-
-//   /**/
-//   LL_GPIO_ResetOutputPin(GPIOA, LL_GPIO_PIN_1);
-
-//   /**/
-//   GPIO_InitStruct.Pin = LL_GPIO_PIN_1;
-//   GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
-//   GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_HIGH;
-//   GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
-//   GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
-//   LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
-// }
-
 /* USER CODE BEGIN 4 */
 
 /* USER CODE END 4 */
diff --git a/2.Firmware/ServoDrive-fw-ll/src/motor.cpp b/2.Firmware/ServoDrive-fw-ll/src/motor.cpp
index 1cdcb1d..b7188a1 100644
--- a/2.Firmware/ServoDrive-fw-ll/src/motor.cpp
+++ b/2.Firmware/ServoDrive-fw-ll/src/motor.cpp
@@ -1,6 +1,5 @@
 #include "motor.h"
-//#include "tim.h"
-#include"stm32f0xx_ll_tim.h"
+#include "tim.h"
 
 float Motor::CalcDceOutput(float _inputPos, float _inputVel)
 {
@@ -34,14 +33,14 @@ void Motor::SetPwm(int16_t _pwm)
         {
             // __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, 0);
             // __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, _pwm > 1000 ? 1000 : _pwm);
-            LL_TIM_OC_SetCompareCH2(TIM3,0);
-            LL_TIM_OC_SetCompareCH1(TIM3,_pwm > 1000 ? 1000 : _pwm);
+            LL_TIM_OC_SetCompareCH1(TIM3,0);
+            LL_TIM_OC_SetCompareCH2(TIM3,_pwm > 1000 ? 1000 : _pwm);
         } else
         {
             // __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, 0);
             // __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, _pwm < -1000 ? 1000 : -_pwm);
-            LL_TIM_OC_SetCompareCH2(TIM3,_pwm < -1000 ? 1000 : -_pwm);
-            LL_TIM_OC_SetCompareCH1(TIM3,0);
+            LL_TIM_OC_SetCompareCH1(TIM3,_pwm < -1000 ? 1000 : -_pwm);
+            LL_TIM_OC_SetCompareCH2(TIM3,0);
         }
     } else
     {
diff --git a/2.Firmware/ServoDrive-fw-ll/src/stm32f0xx_it.c b/2.Firmware/ServoDrive-fw-ll/src/stm32f0xx_it.c
index 3957d66..358e5e3 100644
--- a/2.Firmware/ServoDrive-fw-ll/src/stm32f0xx_it.c
+++ b/2.Firmware/ServoDrive-fw-ll/src/stm32f0xx_it.c
@@ -42,13 +42,12 @@
 
 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN PV */
-
+extern I2C_HandleTypeDef hi2c1;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN PFP */
-extern void TIM14_PeriodElapsedCallback();
-extern void i2c1_callback();
+
 /* USER CODE END PFP */
 
 /* Private user code ---------------------------------------------------------*/
@@ -177,6 +176,7 @@ void TIM14_IRQHandler(void)
   /* USER CODE BEGIN TIM14_IRQn 0 */
     TIM14_PeriodElapsedCallback();
     LL_TIM_ClearFlag_UPDATE(TIM14);
+ 
   /* USER CODE END TIM14_IRQn 0 */
   /* USER CODE BEGIN TIM14_IRQn 1 */
 
@@ -186,7 +186,7 @@ void TIM14_IRQHandler(void)
 /**
   * @brief This function handles I2C1 event global interrupt / I2C1 wake-up interrupt through EXTI line 23.
   */
-extern I2C_HandleTypeDef hi2c1;
+
 void I2C1_IRQHandler(void)
 {
   /* USER CODE BEGIN I2C1_IRQn 0 */