diff --git a/controller_teensy/.vscode/c_cpp_properties.json b/controller_teensy/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..0a0d76b
--- /dev/null
+++ b/controller_teensy/.vscode/c_cpp_properties.json
@@ -0,0 +1,264 @@
+//
+// !!! WARNING !!! AUTO-GENERATED FILE!
+// PLEASE DO NOT MODIFY IT AND USE "platformio.ini":
+// https://docs.platformio.org/page/projectconf/section_env_build.html#build-flags
+//
+{
+    "configurations": [
+        {
+            "name": "PlatformIO",
+            "includePath": [
+                "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/include",
+                "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/src",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Time",
+                "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/lib/hoverboard-esc-serial-comm/src",
+                "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/DallasTemperature",
+                "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/OneWire",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/VirtualWire",
+                "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/Adafruit NeoPixel",
+                "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/SD/src",
+                "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/Adafruit SSD1306",
+                "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/Adafruit GFX Library",
+                "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/Adafruit BusIO",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SPI",
+                "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/ADS1X15",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Wire",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Wire/utility",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/cores/teensy3",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ADC",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/AccelStepper/src",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Adafruit_NeoPixel",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Adafruit_STMPE610",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Adafruit_VS1053",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Adafruit_nRF8001",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Adafruit_nRF8001/utility",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/AltSoftSerial",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Artnet",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Audio",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Audio/utility",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Bounce",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Bounce2/src",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/CapacitiveSensor",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/CryptoAccel/src",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/DS1307RTC",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/DmxSimple",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/DogLcd",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/EEPROM",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/EasyTransfer",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/EasyTransferI2C",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Encoder",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Encoder/utility",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Entropy",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Ethernet/src",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FNET/src",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FastCRC",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FastLED/src",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FlexCAN",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FlexCAN_T4",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FlexIO_t4/src",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FlexiTimer2",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FreqCount",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FreqMeasure",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FreqMeasureMulti",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FrequencyTimer2",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ILI9341_t3",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ILI9488_t3/src",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/IRremote/src",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Keypad/src",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/LedControl/src",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/LedDisplay",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/LiquidCrystal/src",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/LiquidCrystalFast",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/LittleFS/src",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/LowPower",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/MFRC522/src",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/MIDI/src",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Metro",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/MsTimer2",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/NXPMotionSense",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/NXPMotionSense/utility",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/NativeEthernet/src",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/OSC",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/OctoWS2811",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/OneWire",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/PS2Keyboard",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/PS2Keyboard/utility",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/PWMServo",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Ping",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/PulsePosition",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/QuadEncoder",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/RA8875",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/RadioHead",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ResponsiveAnalogRead/src",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SD/src",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SPIFlash",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ST7735_t3",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SdFat/src",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SerialFlash",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Servo",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ShiftPWM",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Snooze/src",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SoftPWM",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SoftwareSerial",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/TFT_ILI9163C",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Talkie",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/TeensyThreads",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/TimeAlarms",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/TimerOne",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/TimerThree",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/TinyGPS",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Tlc5940",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/TouchScreen",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/USBHost_t36",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/USBHost_t36/utility",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/UTFT",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/WS2812Serial",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/XBee",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/XPT2046_Touchscreen",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/i2c_t3",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ks0108",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ssd1351",
+                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/x10",
+                ""
+            ],
+            "browse": {
+                "limitSymbolsToIncludedHeaders": true,
+                "path": [
+                    "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/include",
+                    "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/src",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Time",
+                    "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/lib/hoverboard-esc-serial-comm/src",
+                    "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/DallasTemperature",
+                    "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/OneWire",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/VirtualWire",
+                    "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/Adafruit NeoPixel",
+                    "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/SD/src",
+                    "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/Adafruit SSD1306",
+                    "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/Adafruit GFX Library",
+                    "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/Adafruit BusIO",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SPI",
+                    "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy31/ADS1X15",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Wire",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Wire/utility",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/cores/teensy3",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ADC",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/AccelStepper/src",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Adafruit_NeoPixel",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Adafruit_STMPE610",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Adafruit_VS1053",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Adafruit_nRF8001",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Adafruit_nRF8001/utility",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/AltSoftSerial",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Artnet",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Audio",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Audio/utility",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Bounce",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Bounce2/src",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/CapacitiveSensor",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/CryptoAccel/src",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/DS1307RTC",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/DmxSimple",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/DogLcd",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/EEPROM",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/EasyTransfer",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/EasyTransferI2C",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Encoder",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Encoder/utility",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Entropy",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Ethernet/src",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FNET/src",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FastCRC",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FastLED/src",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FlexCAN",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FlexCAN_T4",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FlexIO_t4/src",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FlexiTimer2",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FreqCount",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FreqMeasure",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FreqMeasureMulti",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/FrequencyTimer2",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ILI9341_t3",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ILI9488_t3/src",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/IRremote/src",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Keypad/src",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/LedControl/src",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/LedDisplay",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/LiquidCrystal/src",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/LiquidCrystalFast",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/LittleFS/src",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/LowPower",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/MFRC522/src",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/MIDI/src",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Metro",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/MsTimer2",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/NXPMotionSense",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/NXPMotionSense/utility",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/NativeEthernet/src",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/OSC",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/OctoWS2811",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/OneWire",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/PS2Keyboard",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/PS2Keyboard/utility",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/PWMServo",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Ping",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/PulsePosition",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/QuadEncoder",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/RA8875",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/RadioHead",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ResponsiveAnalogRead/src",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SD/src",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SPIFlash",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ST7735_t3",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SdFat/src",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SerialFlash",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Servo",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ShiftPWM",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Snooze/src",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SoftPWM",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SoftwareSerial",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/TFT_ILI9163C",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Talkie",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/TeensyThreads",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/TimeAlarms",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/TimerOne",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/TimerThree",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/TinyGPS",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Tlc5940",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/TouchScreen",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/USBHost_t36",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/USBHost_t36/utility",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/UTFT",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/WS2812Serial",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/XBee",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/XPT2046_Touchscreen",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/i2c_t3",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ks0108",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/ssd1351",
+                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/x10",
+                    ""
+                ]
+            },
+            "defines": [
+                "PLATFORMIO=60111",
+                "__MK20DX256__",
+                "ARDUINO_TEENSY31",
+                "USB_SERIAL_HID",
+                "ARDUINO=10805",
+                "TEENSYDUINO=156",
+                "CORE_TEENSY",
+                "F_CPU=72000000L",
+                "LAYOUT_US_ENGLISH",
+                ""
+            ],
+            "cppStandard": "gnu++14",
+            "compilerPath": "/home/fisch/.platformio/packages/toolchain-gccarmnoneeabi@1.50401.190816/bin/arm-none-eabi-gcc",
+            "compilerArgs": [
+                "-mthumb",
+                "-mcpu=cortex-m4",
+                "-mno-unaligned-access",
+                ""
+            ]
+        }
+    ],
+    "version": 4
+}
diff --git a/controller_teensy/.vscode/extensions.json b/controller_teensy/.vscode/extensions.json
new file mode 100644
index 0000000..080e70d
--- /dev/null
+++ b/controller_teensy/.vscode/extensions.json
@@ -0,0 +1,10 @@
+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}
diff --git a/controller_teensy/.vscode/launch.json b/controller_teensy/.vscode/launch.json
new file mode 100644
index 0000000..874f47a
--- /dev/null
+++ b/controller_teensy/.vscode/launch.json
@@ -0,0 +1,47 @@
+// AUTOMATICALLY GENERATED FILE. PLEASE DO NOT MODIFY IT MANUALLY
+//
+// PIO Unified Debugger
+//
+// Documentation: https://docs.platformio.org/page/plus/debugging.html
+// Configuration: https://docs.platformio.org/page/projectconf/section_env_debug.html
+
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "type": "platformio-debug",
+            "request": "launch",
+            "name": "PIO Debug",
+            "executable": "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/build/teensy31/firmware.elf",
+            "projectEnvName": "teensy31",
+            "toolchainBinDir": "/home/fisch/.platformio/packages/toolchain-gccarmnoneeabi@1.50401.190816/bin",
+            "internalConsoleOptions": "openOnSessionStart",
+            "svdPath": "/home/fisch/.platformio/platforms/teensy/misc/svd/MK20D5.svd",
+            "preLaunchTask": {
+                "type": "PlatformIO",
+                "task": "Pre-Debug"
+            }
+        },
+        {
+            "type": "platformio-debug",
+            "request": "launch",
+            "name": "PIO Debug (skip Pre-Debug)",
+            "executable": "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/build/teensy31/firmware.elf",
+            "projectEnvName": "teensy31",
+            "toolchainBinDir": "/home/fisch/.platformio/packages/toolchain-gccarmnoneeabi@1.50401.190816/bin",
+            "internalConsoleOptions": "openOnSessionStart",
+            "svdPath": "/home/fisch/.platformio/platforms/teensy/misc/svd/MK20D5.svd"
+        },
+        {
+            "type": "platformio-debug",
+            "request": "launch",
+            "name": "PIO Debug (without uploading)",
+            "executable": "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/build/teensy31/firmware.elf",
+            "projectEnvName": "teensy31",
+            "toolchainBinDir": "/home/fisch/.platformio/packages/toolchain-gccarmnoneeabi@1.50401.190816/bin",
+            "internalConsoleOptions": "openOnSessionStart",
+            "svdPath": "/home/fisch/.platformio/platforms/teensy/misc/svd/MK20D5.svd",
+            "loadMode": "manual"
+        }
+    ]
+}
diff --git a/controller_teensy/.vscode/settings.json b/controller_teensy/.vscode/settings.json
new file mode 100644
index 0000000..cad7657
--- /dev/null
+++ b/controller_teensy/.vscode/settings.json
@@ -0,0 +1,3 @@
+{
+    "cmake.configureOnOpen": false
+}
\ No newline at end of file