diff --git a/docs/LinearHallTrace_3rd_motor_120deg.png b/docs/LinearHallTrace_3rd_motor_120deg.png
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diff --git a/docs/motor.jpg b/docs/motor.jpg
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diff --git a/docs/traces.png b/docs/traces.png
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diff --git a/src/joystickXY.cppok b/src/joystickXY.cppok
new file mode 100644
index 0000000..0a8b6e5
--- /dev/null
+++ b/src/joystickXY.cppok
@@ -0,0 +1,113 @@
+#include <Arduino.h>
+#include <SimpleFOC.h>
+
+MagneticSensorAnalog sensor = MagneticSensorAnalog(A0, 183, 512);
+
+BLDCMotor motorX = BLDCMotor(4);
+BLDCDriver3PWM driverX = BLDCDriver3PWM(3, 5, 6);
+
+BLDCMotor motorY = BLDCMotor(4);
+BLDCDriver3PWM driverY = BLDCDriver3PWM(7, 8, 9);
+
+float targetX = 0.0;
+float targetY = 0.0;
+
+float target = 6.3;
+
+void setup()
+{
+  sensor.init();
+  // motorY.linkSensor(&sensor);
+
+  // X MOTR STUFF
+  driverX.voltage_power_supply = 5.0;
+  driverX.init();
+  motorX.linkDriver(&driverX);
+  motorX.foc_modulation = FOCModulationType::SpaceVectorPWM;
+  motorX.controller = MotionControlType::angle_openloop;
+  motorX.voltage_limit = 0.6;
+  // motorX.PID_velocity.P = 0.001f;
+  // motorX.PID_velocity.I = 20;
+  // motorX.PID_velocity.D = 0;
+  // motorX.LPF_velocity.Tf = 0.01f;
+  // motorX.P_angle.P = 20;
+  motorX.velocity_limit = 10;
+
+  // *************** Y MOTOR STUFF ******************
+  driverY.voltage_power_supply = 5.0;
+  driverY.init();
+  motorY.linkDriver(&driverY);
+  motorY.foc_modulation = FOCModulationType::SinePWM;
+  motorY.controller = MotionControlType::angle_openloop;
+  motorY.voltage_limit = 0.6;
+  // motorY.PID_velocity.P = 0.001f;
+  // motorY.PID_velocity.I = 0;
+  // motorY.PID_velocity.D = 0;
+  // motorY.LPF_velocity.Tf = 0.01f;
+  // motorY.P_angle.P = 0.1;
+  motorY.velocity_limit = 10;
+
+  Serial.begin(115200);
+  _delay(100);
+  Serial.println("INIT");
+
+  // initialize motor
+  motorX.init();
+  motorX.initFOC();
+  motorY.init();
+  motorY.initFOC();
+
+  Serial.println(F("Motor ready."));
+  _delay(1000);
+  // Serial.println(sensor.getPreciseAngle());
+}
+
+void serialLoop()
+{
+  static String received_chars;
+  while (Serial.available())
+  {
+    char inChar = (char)Serial.read();
+    received_chars += inChar;
+    if (inChar == '\n')
+    {
+      target = received_chars.toFloat();
+      Serial.print("Target = ");
+      Serial.print(target);
+      received_chars = "";
+    }
+  }
+}
+
+float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
+{
+  return (float)(x - in_min) * (out_max - out_min) / (float)(in_max - in_min) + out_min;
+}
+
+void loop()
+{
+  sensor.update();
+
+  serialLoop();
+
+  int senseX = analogRead(A2);
+  int senseY = analogRead(A3);
+
+  targetX = mapfloat(senseX, 0.0, 1024.0, -0.6, 1.2);
+  targetY = mapfloat(senseY, 0.0, 1024.0, -0.5, 2.2);
+
+  Serial.print("senseX=");
+  Serial.print(senseX);
+  Serial.print("\t mappedX=");
+  Serial.print(targetX);
+  Serial.print("\t senseY=");
+  Serial.print(senseY);
+  Serial.print("\t mappedY=");
+  Serial.println(targetY);
+
+  motorX.move(targetX);
+  motorX.loopFOC();
+
+  motorY.move(targetY);
+  motorY.loopFOC();
+}
\ No newline at end of file
diff --git a/src/main.cppfr b/src/main.cppfr
deleted file mode 100644
index 4eec6ca..0000000
--- a/src/main.cppfr
+++ /dev/null
@@ -1,38 +0,0 @@
-// Test file 
-
-#include <Arduino.h>
-
-const int analogInPin = A2;  // Analog input pin that the potentiometer is attached to
-//const int analogOutPin = 9; // Analog output pin that the LED is attached to
-
-int sensorValue = 0;        // value read from the pot
-int maxValue = 200;
-int minValue = 200;
-
-void setup() {
-  // initialize serial communications at 9600 bps:
-  Serial.begin(115200);
-}
-
-void loop() {
-  // read the analog in value:
-  sensorValue = analogRead(analogInPin);
-
-  if(sensorValue > maxValue)
-  {
-    maxValue = sensorValue;
-  }
-  else if(sensorValue < minValue)
-  {
-    minValue = sensorValue;
-  }
-
-  Serial.print("sensor = ");
-  Serial.print(sensorValue);
-  Serial.print("\t min=");
-  Serial.print(minValue);
-  Serial.print("\tmax=");
-  Serial.println(maxValue);
-
-  delay(2);
-}
\ No newline at end of file